Sarrus Linear Axis Mark II
by fdavies, published
Notice that there is a set of 4 holes on the top armature that match 4 hole patterns on the end pieces. This means that one axis could mount on two others at right angles.
Drive system: DC motor from a cheap garage sale inkjet printer, using the timing belt from the printer. The pulley at the other end of the belt is a screw/washer/spacer combination with a skate bearing. The skate bearing is mounted in a flexure plate style mount to give tension the belt.
Optical feedback: I took a optical quadrature encoder and encoder strip from the same printer as the motor. The encoder is mounted on the moving armature, and the strip is anchored at both ends in the end blocks.
Hinges: The hinges on the Sarrus linkage are made with 1/16" diam brass rod as the hinge pins. The holes for the hinge pins were reamed out with a 1/16" drill bit.
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There are several linkages that preforms Straight line mechanism
Just gotta echo cathal here, hollo crap, that IS awesome. We denfinitely do need a video.
But the use of precision hinges does negate the elimination of long studs a little. I wonder if we could get round that though... how about a ball and socket style hinge? Seeing as they need not go past 179 degrees that could work? (Or was that mk1?!)
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The individual stl files for printing are in the .zip file.
Total printing time about 30 hours.
quan 1 pulley_plate
quan 1 belt_plate
quan 1 motor_plate
quan 2 end_piece
quan 2 armature
quan 4 spine
quan 6 hinge_plate_type_a
quan 6 hinge_plate_type_b
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