2-DOF 3-link robot wrist study model

prusaprinters

<p>A functional study model of an intriguing wrist joint as seen in a brief Hackaday article about a dextrous robotic arm from Korea.</p> <p><a href="https://hackaday.com/2019/10/20/humanoid-robot-has-joints-that-inspire/">https://hackaday.com/2019/10/20/humanoid-robot-has-joints-that-inspire/</a></p> <p>I printed it in three colors for visual contrast;<br/> Black, Orange, &amp; Silver</p> <p>The mechanism has 2 degrees of freedom: pitch &amp; roll.</p> <p>It stands 6" tall. The end plates are 3.5" in diameter. It uses inexpensive stainless steel dowel pins at all joints. The pins are a light interference fit and are not otherwise retained with clip-rings, etc. It is screwed on onto a 6" x 6" wooden base from an office supply store. Mounting holes are provided for in the model :)</p> <p>Files include: STL, 3mf, &amp; g-code<br/> Materials are PETG &amp; PLA</p> <h3>Print instructions</h3><p>Pretty straight forward. Sharp-eyed viewers will note that in this model the clevises are closed. This is more robust. The open clevis parts broke too easily.</p> <p>This also means that you can chase the holes with a drill or reamer to fit the pins to your liking. I myself built two models--one loose and one stiff to hold poses.</p> <p>Best Wishes for successful printing!</p>