3d print desktop robot arm(DARM)

by seagull008, published

3d print desktop robot arm(DARM) by seagull008 Dec 16, 2015
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3d print desktop robot arm
Marlin control
Drawing test https://www.youtube.com/watch?v=TB_bw-uhI8M

http://www.thingiverse.com/thing:986224 - uStepper robot arm by nic6911



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Hi I don't understand why in the firmware, in the file configuration.h, the steps per unit are 60. The line is:
DEFAULT_AXIS_STEPS_PER_UNIT {60,60,60,157} // default steps per unit for SCARA

The formula for the steps per unit is:
Steps per Unit = Motor Steps per Revolution x Gear Ratio / (Pinch Wheel Diameter x Pi)

Motor steps per revolution = 3200
Gear ratio=6
Pich wheel diameter=10.19 mm for 16 teeth GT2

Steps per Unit=3200x6/(10.19 x PI) = 599.7596

Why in the DEFAULT_AXIS_STEPS_PER_UNIT there is 60 and not 600 ????

Hello I already finished all assembling and now i am in the way how to make this ARM work with some software. Someone finally could make the firmware WORK?

Anyone had any luck getting the firmware provided by the author to work ?

Is enlarging the scale easily possible to use with Nema 23's?

Hi I am not very familiar with the software to convert a picture into gcode
can someone help me to explain how to draw my pictures with this arm
Thanks a lot

Hi Edvard,

I assume you have found an answer since you asked this but anyway....
You can use Inkscape to generate G-code from an image. There are lots of tutorials on YouTube for this such as https://www.youtube.com/watch?v=4jYKMAjzK3A.
I also used the Makelangelo Software by Marginally clever. It's designed for their Makelangelo drawing robot but works fine to just generate g code. That can be found at http://www.makelangelo.com/download/.

Have you made any progress on this your robot arm? What did you end up doing for the software? I am still struggling to find a good solution.

Comments deleted.

I have published the firmware on thingiverse.You can find it in the File tab.It is named Marlin.rar.

I found three HEX files. Could you please let me know how they get compiled? Will it be done automatically when compiling your Marlin firmware?

hey! can you tell us the connections? which motor goes to which axis on the board?

Nice thank you!
Are you going to publish your tutorials for the firmware and how to use the arm?

Can you please share the github link for the forward you are using? Or Can you please upload and give us a zip instead? Is it based on Marlin? Can you guide us about the modifications that has to be done? Thanks

Hi, what about the firmware? Can you post it?

Any luck on the firmware?

Nice machine!!!
But I cannot find 15x13 carbon tubes anywhere. Could you please modify it for 16mm or 14m carbon tube?
This would be really nice!!

UPDATE: I will just take aluminum rods. They are available in my local hardware store.

What about the firmware? Without a working firmware or instructions on how to set up for example Marlin this design is only half baked.

Any luck on the firmware yet? I'm really waiting for this.. Can anybody provide basic modifications required from Marlin to control this robotic arm? The assembly is complete. But the kinematics and the firmware is the problem.. Please help

"What about the firmware? Without a working firmware or instructions on how to set up for example Marlin this design is only half baked."

Half baked? Really? I'd say it's a bit more than half, more like 80%.

And still....and still and still and still I haven't managed to get the arm working without software so it sits on my desk while I search the net over and over and over again for a clue, a hint, a slightest love tap into the right direction where to find any information.

As long as it doesn't communicte with any gcode sender (in a properly way) this thing is just a dust collector and therefore half baked.

Hi punkrockseb, if you are still interested, I am working on the firmware for the printing. Since my stepper motors haven't arrived yet, I can't test it. If you like to, I can send it to you while it is still w.i.p., or you are patient a few more days till I got it running. I expect it to be ready this weekend.
Greetings, Nitrosocke

Okay you are right :)

Just wanted some kickstart

Great design! How precise it is if used as 3d printer? What is the maximum motion limits(err print size)?

Hello. Has anyone made a successful firmware for this neat robot arm?
Would be very nice to have it in Marlin :-)

In  "Marlin_main.cpp"

void calculate_delta(float cartesian[3]){
// Perform reversed kinematics, and place results in delta[3]

If you know the math (it might be found elsewhere) it should be easy to modify the code to adapt the robot arm

hi, do you think the modification based on SCARA mode will be better?

Hi. Have considered SCARA as a possible base, but the math is rather complex. Better to rework from some other robot arm source

Possible sources:

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

Thank you for sharing me these information. I just make this machine first and then learn how to control it.

Hi !! I loved the video and the hand !
I've printed it and acquired all materials.
Is there an assembly tutorial and firmware ?

Great work. Really like the lightweight and simple design!
Would you please share the firmware?

i downloaded this thing but i mis some stl files
can anybody help me

great design like to make it

You made a big progress with this project :) Can you share the firmware?

675_cennect.STL broken link

I think you should add sources to your project:

uStepper robot arm - Obsolete! (See summary)
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Triangle for robot arm
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Nice design. Looks quite precise! Are the rods carbon fiber? What diameter and lengths are needed?

Hi! good project, where I can download the BOM and the firmware please?