6-Axis End Effector for 3D Printer

thingiverse

**Turn Your Delta 3D Printer into a Budget-Friendly 6-Axis Robot.** This repository contains a coaxial Spherical Parallel Mechanism (SPM) module, designed to replace the end effector of a Delta 3D printer, effectively adding three more axes to the machine. Compare this to robotic arms that can cost up to $20,000 each; you can build this version of a 6-axis robot for under $500 (printer, hardware, and print costs included). Compared to robotic arms, SPMs offer better performance regarding positioning accuracy, speed, force application, and payload-to-weight ratio. This project was made possible by the generous support of SPACE10 through a research residency program in summer 2019. **Hardware Requirements:** * Anycubic Linear Plus or equivalent printer + This system was chosen for its fast Z feed rate and linear rail for sturdy linkage (vs magnetic) * Azteeg X3 Pro or equivalent board with support up to 6 stepper motors * Zesty Drive Cables x3 * Stepper motors x3 * Flexible drive shaft x3 * Retainer rings/E-clip M5 x6, M3 x4 * M3 screws **Fusion360:** Download the .f3z or go to https://a360.co/2IaXe86. To use the Fusion 360 file, go to File -> Open and choose the .f3z file. Modify parameters to change the design to fit your use case. **3D Print Guide:** This version was designed to be printed on an SLA printer. Avoid placing support on mating surfaces. For tighter joint fit, print parts with high-hardness resin. Tough resin (e.g., Formlab Tough) might result in loose joints. **Assembly Guide:** Consult the explode diagram or https://a360.co/2IaXe86 for assembly order. **Important!** Lubricate before assembly! Tight fits could melt together under high friction. Apply PTFE lubricant or low-viscosity lubricant to contact areas. Remove any traces of support on contact surfaces to reduce wearing. **Software:** * This 3-DOF SPM end effector can be controlled by any 6-axis firmware or with Repetier6X (https://github.com/anthonychukh/Repetier6X) * Tool path can be created with SeastarNC, a Rhino Grasshopper plugin for 3D-printer-based robotic control (https://github.com/anthonychukh/SeastarNC) Since most firmware do not support SPM, SeastarNC has built-in components to precompute rotational input for a specific orientation. <img src="https://github.com/anthonychukh/CoaxialSPM/blob/master/Resources/IMG_3040.jpg?raw=true" height=350 align="middle"> <a rel="license" href="http://creativecommons.org/licenses/by-nc-sa/4.0/"> <img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by-nc-sa/4.0/88x31.png" /></a> <br/> This work is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by-nc-sa/4.0/">Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License</a>. --- **!!!CAUTION!!!** Working with electronic devices can be hazardous. Always take precaution accordingly and make sure you are well-trained and informed to work on the specific system. Failure to operate your machine correctly could result in hardware damage and/or serious injuries.