Dual-Angle Pencil Holder Tool for Robot Fanuc 3R 4ia

Our project started when we faced a specific technical challenge: "How can we hold a pencil at either 90° or 45° using a Fanuc 3R 4ia robotic arm?"

After a team brainstorming session to evaluate different ideas, we reached a common solution. We decided to design a single, custom 3D-printed end effector that mounts directly onto the robot's mechanical interface plate.

This tool allows the robot to switch between standard vertical plotting and angled drawing positions without needing complex tool changes.

To get this project together, you will need a mix of the 3D-printed parts, some basic workshop hardware, and the right software to process everything. Here is the breakdown of what we used:

Hardware & Materials

1. The 3D Printed Tool Body: This is the core component we designed in CAD and printed in PLA.
2. M6 Bolts: You will need a few standard M6 bolts to clamp the pencil securely into the slots and mount the tool.
3. A Standard Pencil: Any cheap hexagonal or round wooden pencil will do the trick.
4. Vernier Caliper: Essential for double-checking the exact dimensions of the Fanuc plate and the pencil diameters before printing.

Software & Machinery

1. CAD Software: We used Creo Parametric to model the geometry, but any parametric software works.
2. Slicing Software: Qidi Studio was our choice to prepare the G-code file and configure the honeycomb infill.
3. 3D Printer: We ran the job on a Qidi Plus 4 machine.
4. Robotic Arm: The final mount is specifically tailored for a Fanuc LR Mate 200iD/4S equipped with a Fanuc 3R 4ia interface plate.

Before jumping into CAD, we used a vernier caliper to take precise measurements of all the critical system components. We carefully measured:

1. The diameters, hole spacing, and dimensions of the Fanuc robot interface plate.
2. The standard pencil diameters.
3. The hardware fasteners like screws, nuts, and relative holes.

We noted all dimensions on paper and created hand-drawn technical sketches with precise dimension lines. This step was fundamental to figure out how to develop the physical layout before moving to the software.

With our physical sketches and measurements ready, we moved to 3D CAD software. We used Creo Parametric to model the tool.

We iterated through a few different design variants during team discussions until we all agreed on the final optimized design.

Modeling the finalized part in Creo was straightforward because we managed to design it as a single solid component rather than a complex assembly of separate pieces. This drastically increases the structural rigidity of the tool while working on the robot.

To fabricate the tool, we used the Qidi Studio slicing software and a Qidi Plus 4 3D printer. We imported our CAD model into the slicer and modified the parameters to ensure excellent mechanical strength:

1. Material: PLA
2. Infill Density: 35%
3. Infill Pattern: Honeycomb
4. Layer Height: 0.2 mm
5. Supports: Automatic tree supports

Once the parameters were locked in, we exported the G-code file onto a USB flash drive and loaded it into the printer. We started the print with a controlled speed set to 75% and a bed temperature of 55°C.

Our slicing data gave us precise technical metrics regarding production time, material usage, and overall cost breakdown:

1. Print Time: 3 hours and 44 minutes
2. Filament Used: 22.44 meters
3. Model Mass: 56.55 g
4. Support Mass: 8.22 g
5. Total Mass: 64.77 g
6. Model Material Cost: €1.70
7. Support Material Cost: €0.25
8. Total Cost: €1.95 based on a €30.00 / 1000g spool

1. Remove Supports: Carefully detach the automatic tree supports from the 3D-printed part. Clean the internal pencil tracks and the bolt holes.
2. Insert Fasteners: Place the nuts into their slots on the tool body.
3. Mount to Robot: Align the tool base with the Fanuc 3R 4ia plate and screw it down firmly using your mounting bolts.
4. Insert Pencil: Slide your pencil into either the 90° vertical port or the 45° angled slot depending on your task, then tighten the clamping screws to eliminate any movement.