Palletizing Robot Arm (3DOF, 50cm reach, 125g lift)

by i-make-robots, published

Palletizing Robot Arm (3DOF, 50cm reach, 125g lift) by i-make-robots Mar 24, 2014
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Thing Info

18687Views 5581Downloads Found in Robotics
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For more of my creations, please visit Marginally Clever.
This robot is currently in a contest and needs your support to win. Please upvote it!
Based ABB 460 Palletizing robot, this machine uses parallelograms to keep the finger tip level with the floor at all times. Three NEMA17 stepper motors move the arm. Limit switches help it find home position. In this first version I'm using 2x Adafruit Motor Shield v2 and an Arduino UNO for the brain, which I've taught to understand GCODE and Inverse Kinematics.
If you can't make the parts yourself, I can make you a set of parts.
I will be releasing bigger and better robot arms throughout the year and I'll do my best to keep them open source and open hardware. I want to do for robot arms what MakerBot has done for 3D printing, minus the controversy.

Print Settings

Printer Brand: RepRap

Printer: Prusa 2

Rafts: No

Supports: Yes

Resolution: 200um

Infill: 20%


You'll have to clean out the 5mm holes, they print ~0.3mm too small on my printer.


All DXF files are in centimeters. The STL are in millimeters.
bom.csv should list all the parts you need. I added column to show which items should be 3d printed, laser cut, or bought off the shelf. I can offer you a complete kit of parts if that's too complicated.
Bicep-a and the shoulder joint connectors (part 38 and 39) should be cut from 4.6mm thick material (commonly sold as 1/4" birch ply). All other DXF files can be cut from 1/8" birch or oak ply
More information and the source code.
Exploded diagrams and tips

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Do you need a 3D printed pen holder? That was the major thing about this video that looked off. Good job with the design and stepper control! So can we use it as a 3D printer?

I tried a 3d printed pen holder before publishing. Wasn't as good. Maybe it just needed tweaking. I find laser cutting is always faster and therefore cheaper.

In theory it could be used as a 3d printer. Certainly the control board supports an extruder, bed, and nozzles. It would take some experimenting to improve the feed rate and repeatable accuracy. I'd love to see it happen!

You might also enjoy http://www.thingiverse.com/thing:360108http://www.thingiverse.com/thi... [added as a cross link from your comment on v0.3 ;)]

MeArm V0.4 - Pocket Sized Robot Arm

This robot is part of the Hackaday "Build the Future" contest.http://hackaday.io/project/945... and needs your support to win. Please upvote it!

Updated the design files this morning to increase ease of assembly and maintenance. Exploded assembly diagrams coming soon.

Ok now I know what I am doing this weekend

This is awesome! Keep up the great work.