Tertiarm - 3D printed robot arm

by karagad, published

Tertiarm - 3D printed robot arm by karagad Jan 2, 2017


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5353Views 1012Downloads Found in Robotics


Update: I have published instruction on Instructables: http://www.instructables.com/id/Tertiarm-3d-Printed-Robot-Arm/ and add new parts!

This is a 3D printed robot arm based on Ikea Tertial lamp.
I use lamp because it has very good kinematic with using springs to unload servos.
I cut all beam, but you can use any length.
It has 5 DOF and use 5 standart size servo.
You can find list of all components and printing part in BOM.
I haven't done any instruction yet, but I will be happy to answer all your question.
Video: https://www.youtube.com/watch?v=yoLEyxQzFfY
My project on Hackaday.io: https://hackaday.io/project/19235-tertiarm-3d-printed-robot-arm
Lifting power test video: https://www.youtube.com/watch?v=o4JGR529i1o

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Prusa i2




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I went through your Instructable briefly. It states to cut all beams to a specific length. Do you mean to say that I need to cut / saw the lamp after disassembling?

Sorry for the long answer. Yes, you need to cut all beams, but the specific length depends on your servo torque and power. You even can use the default length, but the best one is 260mm.

cool idea. They don't sell that IKEA lamp in California. Do you just use the aluminum square tube and springs from it?

Thank you. You can use aluminium square tube and similar spring from hardware store. You just need to check the right size of tube using Tip.STL from thing files. Square is about 10x10mm(outside) and about 9x9mm(inside).

thanks! Found out that they do sell the LED version of that lamp in California

I recommend to use this lamp, because it has very good springs with acceptable stiffness. So your don't need to try a lot of different springs from hardware store

What software or controller are you using? Arduino with CNC shield?

Arduino uno and SensorShield v5.