Robot Arm

A Robot Arm with an area to attach a gripper. Make sure to read ALL instructions before printing and ordering.

1. CNC Shield V2.
2. https://www.amazon.com/dp/B09BK57KNY?ref=ppx_yo2ov_dt_b_fed_asin_title
3. https://www.amazon.com/dp/B07CXR7SFL?ref=ppx_yo2ov_dt_b_fed_asin_title
4. https://www.amazon.com/dp/B0FWCHPY4F?ref=ppx_yo2ov_dt_b_fed_asin_title
5. https://www.amazon.com/dp/B0FPX7KR8V?ref=ppx_yo2ov_dt_b_fed_asin_title
6. https://www.amazon.com/dp/B08FM9JJWK?ref=ppx_yo2ov_dt_b_fed_asin_title
7. 5mm Bore GT2 Pulley 20 Teeth with 6mm path width
8. A 3D printer with the volume of atleast a Prusa XL
9. https://www.amazon.com/dp/B0FQ51ZLD7?ref=ppx_yo2ov_dt_b_fed_asin_title
10. Female to Male, Female to Female, and Male to Male Jumper Wires
11. https://www.amazon.com/dp/B00004Z48U?ref=ppx_yo2ov_dt_b_fed_asin_title
12. https://www.amazon.com/dp/B0CMQN8L5R?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1
13. https://www.amazon.com/dp/B00PNER4V6?ref=ppx_yo2ov_dt_b_fed_asin_title (2)
14. 250 mm GT2 Timing Belts with 6mm path width
15. Bearings of the Appropriate Size (look at .3mf file)
16. https://www.amazon.com/dp/B0F998FM87?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1
17. https://www.amazon.com/dp/B0FP1TJ7PR?ref=ppx_yo2ov_dt_b_fed_asin_title (2)
18. https://www.amazon.com/dp/B0CYWP3J39?ref=ppx_yo2ov_dt_b_fed_asin_title
19. Nuts and Bolts Assortment M3-M5 (try to get them on the longer side if you can)
20. Soldering Iron
21. Locknuts (of reasonable strength)
22. GT2 Belt Tensioner with 6mm path

MAKE SURE TO HAVE PLENTY HEX KEYS!!

Print the parts as appropriate. Some parts need sandpaper. The cycloidal drive was non functional when I attempted to make it so printing it is not recommended. One good reminder for these robot arms is when putting the gt2 pulleys onto the shaft we want to tighten the black hex screw onto the shaft to keep the pulley locked on.

For the shoulder shaft heat inserts and heated via a soldering iron and placed inside slowly. Search online for good heat insert temps. After we do this, slide the forearm mechanism (with great difficulty. I'll admit this part is faulty design. Maybe sand the inside of the thing first to ensure a smoother fit) into the shaft until the heat inserts light up with the holes in the forearm mechanism. Or rather the "bicep" mechanism if you will. Then screw the screws in to tighten them onto the shaft.

Assemble as so. Make sure to leave no gaps in between the screw head and nuts. We want the clamping force as strong as possible. A heat insert is placed into the far right for the belt tensioner screw (below second pulley) however this may not be needed if your clamping strength is strong enough. put locknuts at the end of each screw. I used a 5mm 70mm depth hex screw. Hex screws are also slotted into the holes of the right and left implements that are inserted into the bearing slot and clamped down by the hex screws which go into the threaded inserts we heat inserted into the shaft. the bearing can be seen around the 3rd pulley. Make sure to check the bearing size in your .3mf file before printing. For knowing which pulley to put first think of it this way: we want the pulleys to go from smaller to larger every single turn. This allows an increase in torque or, more formally put, a reduction ratio, in every area. This, in turn reduces speed but increases torque. No free energy.

Assemble as so. instructions are the same as the shoulder assembling of the pulley. I found my tensioners for the first pulley were best slotted in the places scene in the image. And the second to third pulley ratio is self explanatory. We also want to slot the screws into the holes of the base (although the part doesn't flush directly in due to bad design, it works so I'll take it) and clamp them with nuts and a locknut.

Combine the Pre-Base onto the base by inserting the shaft on top of the pulley shaft and mechanically screwing them together. The thrust ball bearing should be placed in the gap in the blue Pre-Base on the bottom as seen in the picture. Then mount the shoulder aligned with the blue Pre-Base and screw together and clamp down with a hexnut.