3D Printed robotic ARM
This is a 3D printed robotic Arm.
It follows the success of my previous smaller one EEZYbotARM so I simply called it MK2 (make 2)
It is a little bigger and stronger, just to obtain an acceptable payload.
It has been designed without a definite purpose, the aim is educational, providing a suitable hardware that allow to concentrate on exploring all its potential applications.
It shares the kinematick linkage of the ABB IRB460 scaled down with a ratio of 1:7
3D models in stl format can be downloaded for free from my account at Thinghiverse.YouTube.
CAD FILES :
I made available the source CAD files of the EEZYbotARM mk2 on my Onshape account : here
You can copy, modify and export files.
I used metric hardware and all joints rotate on M4 screws. (in alternative of M4 an #8-32 can be used)
Holes of the joints are designed quite tight. This to allow a fine adjust of their diameter using an exact drill bit.
On screws are to be used selflocking nuts. They are to be tightened till the locking of the joint, then consequently you have to loose them until you obtain a smooth movement with a low clearance between components.
On the two axis of the main vertical.arm I used n.2 M4 threaded rods
SOFTWARE / FIRMWARE :
The purpose of the robot is to provide an educational tool wich allow making experiment with different control methods. I found very easy to use a Mini Maestro 12 Controller from Pololu, it is not very cheap but solve a lot of problems. You have to install drivers, a software and when connected to usb you're are immediately able to drive the servos choosing their speed and acceleration also. You can store the servo position to a sequence and when ready it can be played once or in a loop. Can also be stored in the internal script memory and it can be automatically played without computer connected.
PRINTED PARTS BOM list :
EBAmk2_015_claw finger dx.STL
EBAmk2_016_claw gear drive.STL
EBAmk2_017_claw finger sx.STL
EBAmk2_018_claw gear driven.STL
NON PRINTED PARTS BOM list :
n.3 955 or 946 servo
n.1 SG90 SERVO
n.1 M6 selflocking nut
n.1 M6x25 screw
n.2 M3 selflocking nuts
n.2 M3 x 20 screws
n.1 M3 x 10 hex recessed head screw
n.9 M4 selflocking nuts
n.1 M4 x 40 screw
n.1 M4 x 30 screw
n.5 M4 x 20 screw
n.1 M4 x 60mm threated rod
n.1 M4 x 32mm threated rod
n.25 dia 6 mm ball spheres
n.1 606zz bearing
some M4 washers
last update 04/02/17
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