UMIRobot

thingiverse

The UMIRobot is a (5+1) degrees-of-freedom (DoF) robotic arm developed for a [project-based learning (online)](https://mmmarinho.github.io/teaching/FEN-CO3982S3) class at the University of Tokyo. The robot is intended for undergraduate/graduate level students and was designed in such way that the students can comfortably assemble it at their own homes. In Thingiverse, I'm sharing assembly requirements and high-definition `.stl` project files under [CC BY-NC-SA 4.0](https://creativecommons.org/choose/). Read the license carefully before continuing. #### Disclaimer The information herein is work-in-progress, but the robot has been successfully used in classes. If you are an educator, please contact me directly for more up-to-date information. All product links in this summary are used only as reference (they are not referrals, I do not get payed for clicks or purchases made through them). This project does not endorse nor is endorsed by any specific manufacturer or vendor. #### Requirements To assemble the 5-DoF robot, you'll need: ##### Servo Motors In this project we use the +-180 degrees position-control models, and **NOT** the velocity-control models. - `MG996R` (x4) (We use the standard disk horns that come with most models) - `SG90` (x1) Depending on your location you can easily find these at, for example, Amazon. ##### Screws (necessary) - The screws that come as a set with the servos. - M2-8 self-tapping pan head screw (x26) [Example](https://us.misumi-ec.com/vona2/detail/221000547618/?PNSearch=CSPPNSA-SUS-TP2-8) ##### Servo cable extension (recommended) - 30cm or so (x3) [Example](https://www.amazon.com/RCmall-Servo-Extension-Cable-Futaba/dp/B01MQPCLPT) #### What to print: Print one of each of the available models: - `umirobot_l1.stl` - `umirobot_l1_cover.stl` - `umirobot_l2.stl` - `umirobot_l2_cover.stl` - `umirobot_l3.stl` - `umirobot_l4.stl` - `umirobot_l5.stl` #### Print settings - Resolution: 200 - Infil: 15 - Supports: Yes - Tested on: QiDi Tech X-MAX, Raise3D - Filament material: PLA - The 3D-printed parts of this project were designed for hassle-free printing, so they should be compatible with most printers and filament brands. - If you have a large print surface, you can print all the parts in one go (e.g. with the X-MAX). - Some early prototypes were printed using SLA, but it is not recommended unless you use a non-brittle resin. #### How to assemble - Under construction #### Software This design is also backed by a mature software infrastructure. - [Arduino UMIRobot](https://www.arduino.cc/reference/en/libraries/umirobot/) - [UMIRobot Python](https://pypi.org/project/umirobot/) #### How I designed this The UMIRobot was designed from scratch using Autodesk Inventor PRO 2021 with an Educational License. The geometry of the robot was decided in such way that it resembles the geometry of industrial-type arms and can be easily assembled. #### About the author http://www.murilomarinho.info