Parametrized SCARA robotic arm. Customizable. 1200+ g PAYLOAD !!!

thingiverse

Masses were moved to improve efficiency. Two motors serve as counterbalances. The lifter motor was relocated closer to the base. The provided Openscad file includes a belt length calculator. The STL model is optimized for belts of 336 and 260 mm in length. Prototype effortlessly lifts payloads of up to 1200 g and 500 g, as evident from videos. A custom parametric gripper design was created. The openscad file specifies the maximum and minimum gripping widths based on user-defined parameters. It's fully customizable, including the servo used. See images for further details. Updates: * Blocking screws were added for top and bottom to provide extra stability. * Holes were drilled in the base for secure fixing. * A custom Marlin version with servo control was compiled. * A 2DOF gripper (wrist for HS645MG) was integrated. * The wrist and gripper were made more rigid. GT pulleys were created using a modified Parametric Pulley with multiple belt profiles, designed by droftarts in January 2012. Gears for the gripper were generated using a library developed by Leemon Baird in 2011. Videos demonstrating the prototype's capabilities can be found at: https://youtu.be/0FFZ8miT0VE https://youtu.be/YSeXhJgEgbk https://youtu.be/pRjkzyHDR5E Pick and rotate https://youtu.be/Pmd2hQuCnKQ servo test https://youtu.be/m5fS1hvsXi0 gripper test https://youtu.be/bAA7MBBQvXQ