Parametrized SCARA robotic arm. Customizable. 1200+ g PAYLOAD !!!
thingiverse
Remixed version of the SCARA robotic arm. Masses (motors) were shifted. Two motors act as counterweights. The lifter motor was shifted closer to the basement. The Openscad file is provided with a belt length calculator. The STL model was optimized for belts of 336 and 260 mm. Prototype easily lifts 1200 g and 500 g of payload, as it is visible in videos. A parametric gripper was designed. The openscad file gives the max and min gripping widths with respect to user's parameters. It is fully customizable, also for the servo used. See image for further information. EDIT 18/Dec/18: added blocking screws for top and bottom. Added holes for basement fixing. EDIT 20/Dec/18: compiled a custom marlin version with servo control EDIT 08/Jan/19: added a 2DOF gripper (wrist for HS645MG) EDIT 23/Apr/19: wrist and gripper more rigid EDIT 29/May/19: finally the endstops holder! by Olmo Ruffini EDIT 26/March/20: Z endstop holder improved (new version) GT pulleys drawn by using a slightly modified version of 'Parametric Pulley with multiple belt profiles' by droftarts January 2012 Gears for gripper are generated by using a library developed by Leemon Baird, 2011, Leemon@Leemon.com //http://www.thingiverse.com/thing:5505 https://youtu.be/0FFZ8miT0VE https://youtu.be/YSeXhJgEgbk https://youtu.be/pRjkzyHDR5E Pick and rotate https://youtu.be/Pmd2hQuCnKQ servo test https://youtu.be/m5fS1hvsXi0 gripper test https://youtu.be/bAA7MBBQvXQ
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