Modular Robot Linear Module (ZaMoBot)

thingiverse

The versatile robot is perfect for learning or teaching different arrangements of robotic arms. The comprehensive modular robot kit consists of three core components: Rotational Module, Linear Module, and adaptable adapters. The linear module complements the rotational module and can create millions of configurations by altering its geometry, combining modules to produce manipulators with two DoF up to six DOF. The design is intended for rapid assembly and repetition. This feature offers flexibility to try new configurations with a very short preparation period. It uses standard-size hobby servo, allowing for a lower final cost. In addition to the screws for the base and servo, the module requires no other additional mechanical equipment; it comes with a fast and easy printable connector. It is essential to build the control system for the servos as well as establish the electrical connection for the servos. The PDF document contains a design for printed circuit boards and ten-pin connectors that provide the capability of connecting the servos in serial connection, supporting up to six servos. Print the base and attach it to a stable surface with four countersunk screws; fix the first module with the printable clamp to the servo. Tags: Robot, Robotics, Manipulator, Control, Cool Robot, Robotic Arm, Educational Robot Printer Settings: Printer: M3D micro Rafts: Yes Supports: Yes Resolution: 0.1 Infill: 30% Notes: The print resolution of 0.2 or 0.15 might work with some sanding on the joints; for optimal results, I recommend printing the parts with a resolution of 0.1mm or better. Remove the support material thoroughly after printing. Post-Printing Assembly: Follow the instructions to assemble the module and serial connector. The module fits any digital or analog standard servo with 180 degrees of rotation; higher rotation would damage the linear module, so I calibrated the rack and gear of the module accordingly. Attach the printable gear to the servo. I recommend using heavy-duty, high-torque metallic gears for better performance. However, I tried it with the entry-level Hitec HS-311 and it worked relatively well. When creating any configuration, consider mechanical interferences to avoid damage to the servos or modules. The electrical serial connection for the modules is suggested for easier and faster configurations but not required. The PDF file contains the printed board's designs for installation in the rotational module and linear module; the scale is 1:1 on a Letter 8.5"x11" paper size (not A4). Design Background: This design is part of an ongoing project, originally created as a complete educational modular robot for my undergraduate thesis in 2004 at Universidad De Los Andes in Bogota. The concept was developed by Prof Carlos F. Rodriguez and David Garzon. The design has been updated for publication, with the current parts being the fourth prototype version; they have proven to work well with a resolution of 0.1 or better. I hope this will help everyone interested in learning or teaching manipulator controls. I would be pleased to post any pictures or videos of your projects. Try the linear module for more configurations and the underactuated module for more advanced control challenges. At this stage, I have no end effector designs yet.