4-link SCARA robot

cults3d

4-Link SCARA Robot This is a stepper motor control application that serves as an excellent model for applying Denavit Hartenberg. The interchangeable end-effector provides enormous versatility, allowing it to be adapted to a 3D printer or used as a general-purpose robot. This project was the final assignment in the robotics class of the Electronics and Automation Engineering degree program. Print Parameters * Fill: 30% with a layer height of 0.3 mm in support pieces * Fill: 70% with a layer height of 0.2 mm on pulleys Electronics * 4 NEMA engines, type 17, at 1.7 A each * 1 Arduino Mega * 1 Ramps v1.4 shield * 4 A4988 drivers * 1 SG90 servo * Power source: 12 volts Mechanics * 4 bearings, type 608 * 2 four-wire spindles: + One with an 8x1050 mm length + One with an 8x330 mm length * 2 bronze nuts for the four-wire spindle * 3 steel axes, 8mm x 300mm in length (variable) * V-slot profiles, 20x40x1000 mm in length (variable) * Linear bearings, type LM8UU * 12 wheels for the v-slot profiles * 6 concentric separators, 6mm in diameter * 6 eccentric separators, 6mm in diameter * 4 closed pulleys, GT2: + One with a 6x158 mm length + Two with a 6x200 mm length + One with a 6x280 mm length Software There are versions of Marlin adapted to SCARA robots that can be used by adapting the g-code.