Robot Fanuc Pencil Tool

Our main objective was to design a tool specificly made to hold a pencil easily. The focus we had was to design something that was easy to craft and could be useful to anyone who is fond with Fanuc programming system. The idea is an attachment to the robot which can hold a pencil steady vertically and 45° degrees oriented.

In order to hold the pencil we have two jaws that can be closed near each other to fill the gap.

The tool is psecifically made for the ER4ia Fanuc robot.

Everything you need is here reported and can be easily accessed by anyone

1. TPU plastic material to 3d print the tool
2. 4 m8 screws to keep the tool steady on the robot end effector
3. 1 m8 screw to regulate the opening of the jaws
4. 3d printer (you can easily rent the use in the nearest FabLab)
5. 1 butterfly bolt
6. a set of allen keys
7. Fanuc Robot ER4ia

First of all you will need to print the tool using the .stl file attached here.

Make sure while printing the plastic is all printed on the pad else it could be a problem while positioning it on the robot.

The weight needed is 86.56g of TPU and it will cost around 7 €.

Once printed the only thing to do is to put the pencil inside the tool, close the jaws with the butterfly bolt enough not to leave space for the pencil to move or fall out of position.

The last step is to set the pencil on the robot Fanuc ER4ia with 4 screws and coduct a quick test drawing whatever you want.

In this step, I introduced a revised version aimed at addressing some of the limitations of the previous prototype. In particular, we extended the jaw, made minor refinements to several dimensions and clearances, and selected an M6 screw instead of an M8 screw for the clamping mechanism.