6DoF mostly 3D Printed Robot Arm (Part 1)

[Music] hi everyone around Xavier go I built a 3d printed robot arm this one and a lot of my subscribers asked me if I can make a beauty do of this arm and also if I can make this project open-source and today is gonna be the first built video of this arm and I'm not gonna just build the same arm I'm gonna change the design in order to implement some improvements and before we continue please don't forget to subscribe to this channel and also support me on my patreon page let's get started here I have a kinematic diagram of the original robot for the current version for the new version of the robot as the kinematic diagram is going to be more or less the same but just slightly simplified so here this is the base of the robot this is the first joint which rotates like this the second joint rotates like this third one like this force one like this feels one and six ones and we always count the joints from the base to the gripper and the dimensions are this is D 1 F 1 F 2 F 3 D 3 goes inside d 4 and D 6 and this values is equal to R 1 is 47 this one the one is 133 f 2 is 110 F 3 is 26 G 3 is 7 millimeters g4 is 117 point five millimeters and the last on d6 is 28 millimeters in the new version of robot we will simplify this diagram by eliminating d3 so this tree instead of seven millimeters is going to be zero millimeters and this will simplify it in your skin ematic and as a consequence this will simplify our are doing a program this value g3 is a basically misalignment between the exes number four and the exes number one so the exes number four is seven millimeters shifted in this direction with respect to the exes number one so in the current or new design we're going to shift this force exes exes number four into this direction seven millimeters and like this it's gonna this axis is gonna be well aligned with the first axis and with rest with the other axis there is also some other issues in this design which we are going to address in our new or current design and one of this issue is the heating of the motors and the problems that some of the motors like for example this one the motor of X is six oh this one's a motor of the X is five or this one they are well enclosed inside plastic parts and like this there is no much air circulation around them and so what I'm going to do I'm going to put some holes in these plastic parts in order to facilitate the air circulation there is also some minor issues like for example one of them is that this part touches the belt maybe you can see it this is less important but still I will fix it so let's look at the fusion 360 the arm is designed in fusion 360 and it consists of three parts one two three and why it's repulse because my computer is quite old and weak and it cannot handle too many parts in fusion so that's why I split it the arm of the three three parts the first part have the axis six X is five and X is four and part of the accessory but the X is three itself is on the second second file so it's here is also has that exist to and exist one like this and the last file contains just the bottom part of the Bates so here you can already see the modification which I made like I edit this holes for the better ventilation of motors I also changed this motor for a little bit more powerful motor like this exit six is gonna be a more powerful gonna have the high torque and I also shifted axis number four to the right seven millimeters like this exists number four is gonna be well aligned with all other axis so I already CD printed these parts and this is what we are going to assemble today so to 3d printed I used my puja I three max three and this is a slicer and you can see how I put all the parts on the bed of course I use support and but this is support only from the build plate the fuel density which I use is 50% and I used P III material just because it's more durable and it can handle higher temperatures and the usual Pella PLA I printed the parts separately because for me it's easier because if you have foil like this it's only one part fails and not all of them [Music] [Music] first of all we need to remove the support and clean the parts [Music] so this is really printed parts this is two motors one motor is for exist number six and this motor is for exist number five this is number eight and this is name 11 so this motors goes here like this this part goes on the top here I will glue two magnets after us we have a biddings which goes from each side this part is pulley for the for the belt goes over here after this one goes like this this pulley goes back here and this is a bracket so now let's assemble all of this we will start with this piece we need a small screw to put in this hole and there is enough it's just like this next let's fix this motor here so wires goes to this home and when she cures a motor with a small and two screws this one goes on top now this bearings no just him like this and this one it's we can either glue it or leave it like this because it's quite tight fit I will just put a small amount of glue and now the second bidding which goes here and now this pot goes over here like this now to fix here I need to use three dowel pins dowel pins I have them just yet yeah they installed and after they go in this city small holes like this this looks quite nice already it moves very freely okay to fix this bracket here I have a hole through which we need to put a screw so this is our screw this is our nut moves very smoothly this is exactly what we need so this is a belt which goes here like this but before using this belt we need to install the motor so this motor goes here this is a motor for the axis chips for the axis number five and we need to put the wires through this hole and this wires will go here in this channel and Daffy toads also serves the same hole but for the moment I believe them now I will secure the motor with these screws and this motor moves like this so we can tighten the belt so this is a pulley which goes on the motor this is the belt so pulley here yeah and it goes on the motor like this so first I will tighten the belt with all the force that I have now I need to adjust the this pulley in order to have the belt parallel to the entire system something like this and they need another key nice so this is exes number six and this is exes number five now I will fix this pulley here so it goes just here but I will put a little bit of glue nice very tight fit so now I need to glue two magnets over here this is my magnets so I will put first the magnets on this plate and they will put the magnets with different polarity facing up like this is gonna let attract all the magnetic parts so now I need to glue this these two magnets in the these two holes just a little bit of sandpaper on the magnets and they need to put this magnesium and this part is finished and I can show you why I have these hinges it's actually to put the zip tie here like this so now with this zip type you can put a external wire here in just in case it may be just one last bit that we can put this beading over here and now you can see them both together so this is a current version or new version and this is the old version and I'm really satisfied with the way how it moves it's super smoothly and the rest of the robot we gonna assemble in the next videos and by the way you can also see that now I am using the longer motors and this one in order to have the more torque on the six axis so today we assemble the part of the robot we assembled the axis number six and X is number five in the next videos we are going to continue to assemble this robot so please subscribe to this channel in order not to miss this and also support me on my patreon page see you next time

Channel: Skyentific

Views: 86,809

Keywords: robotic arm, robot arm, robot, DIY, Arduino, robot tutorial, stepper motor, 3d print, 3D printed, 3D printed robot

Id: oFCUw1pXlnA

Length: 16min 53sec (1013 seconds)

Published: Mon Dec 17 2018