4-link SCARA robot

cults3d

4-link SCARA robot This is a stepper motor control application and an excellent model to apply Denavit Hartenberg. The end-effector is interchangeable which gives it enormous versatility. It can be adapted to a 3d printer or used as a general purpose robot. This was the final project of the robotics class in the Electronics and Automation Engineering degree. Print parameters 30% fill and 0.3 layer height in support pieces 70% fill and 0.2 layer height on pulleys Electronics 4 nema engines 17 1.7A 1 Arduino Mega 1 Shield Ramps v1.4 4 drivers A4988 1 servo sg90 1 Source 12 volts Mechanics 4 bearings 608 1 4-wire spindle 8x1050mm 1 4-wire spindle 8x330mm 2 bronze nuts for 4-wire spindle 3 steel axes 8mmx300mm (Variable length) v-slot profiles 20x40x1000 (variable length) Linear bearings lm8uu 12 wheels for v-slot profiles 6 concentric separators 6mm 6 eccentric separators 6mm 1 closed pulley gt2 6x158mm 1 closed pulley gt2 6x280mm 3 closed pulley gt2 6x200mm Software There are versions of Marlin adapted to SCARA robots, you can use an unmodified version by adapting g