Palletizing Robot Arm (3DOF, 50cm reach, 125g lift)

thingiverse

This robot, inspired by ABB's 460 Palletizing model, utilizes parallelograms for its arm's stability and employs three NEMA17 stepper motors for movement. It finds its home position with the help of limit switches while being controlled by an Arduino UNO and two Adafruit Motor Shield v2 that understand GCODE and Inverse Kinematics. The creator aims to release more advanced robot arms in the future, keeping them open source and hardware. Assembly and maintenance improvements were made on January 2, 2013, while a missing tendon was added on June 23, 2016. For assembly and programming instructions, visit the new link provided. Printing requirements include rafts, supports at 200um resolution, and 20% infill with note about cleaning 5mm holes. DXF files are in centimeters while STL files are in millimeters. A parts list (bom.csv) is available, detailing which items need to be 3D printed, laser cut, or bought off the shelf. The creator can offer a complete kit of parts as well. Parts such as bicep-a and shoulder joint connectors require thicker material at 4.6mm. More information, source code, and exploded diagrams are available.