Eon2 SCARA 3D Printer / Robotic Arm

thingiverse

THIS VERSION IS OBSOLETE SEE: https://www.thingiverse.com/thing:4731210/edit New Videos Z Axis: https://www.youtube.com/watch?v=ZYAOTnra_O4&t=1s Transmission Belts and Duet WiFi: https://www.youtube.com/watch?v=gtygEVjMbFI First Arm Movements: https://www.youtube.com/watch?v=3quan4e1jdo&t=91s This is a SCARA arm which can be used for a multitude of things. Personally, I am going to be using it as a 3D printer, but it is an open platform which can be modified and changed to fit your needs. This design utilizes 6x 6810 bearing in the arm joints to allow for a smooth rotation and mitigate backlash/slop by providing a large moment radius due to the bearing size. The segments which give the arms can be any form of 20x20mm stock; the joints are designed to slot and bold into the 20x20 stock. Depending on how long you want the arm, you can change the length of the stock. Currently, there is a 25:1 gear ratio build in using belts and gears, providing a greater amount of precision at the end of the arm. Using 128 micro-stepping, it is theoretically possible to achieve an accuracy of ~.005mm using a 500mm arm. ---------------------------------------------------------------------------------------------------------------- Okay, so after 2 years or something I finally got the motivation and time (thanks COVID19) to redesign and rebuild by original SCARA arm which failed miserably. This one I actually modeled properly and have a fairly good workflow with. Being older and better also helps. These files are are the actual 3D printed pieces, if you want to make one, you need to have lots of GT2 belt, screws, nuts, 6 6810 bearings, and some kind of 20*20mm square thing for the actual arms. At the moment this is very early stages of me making it so there may be updates or there may not be, I don't know. I have bought everything already so it would be wasteful of me to not build it though so expect updates... maybe. Firmware and electronics are not even in the picture at the moment, I'm still working out what I'm going to do with those, but I am thinking of using hall effect sensors, IR sensors, and a Duet2 WiFi to control everything. I may provide updates or not, I have not yet decided. 1st Update - https://www.youtube.com/watch?v=k_bkBhvsohg