Easy Robot Arm (SG90 servos & now steppers too) UPDATED 03/21 by mobiobi

mobiobi

Hobby & DIY>Robotics

Print Profile(1)

All

X1 Carbon

P1S

P1P

X1E

0.2mm layer, 6 walls, 25% infill

6.9 h

5 plates

4.1(7)

Boost

144

Released

Description

Designed to need only the things that came with your SG90s(and maybe your 28BYJ-48 stepper too...), tried to make it easy to print, minimize number of pieces(though there are still a few), difficulty of scaffolding removal, etc.

All motors and components are hot-swappable!

Fusion and Step files included, for those that want.

Especially pleased with the way the screw-caps hold and allow rotation.

Ideas:

1) Unless you have some servos with good torque, maybe use the 60mm arms only.
2.) Pic of little red elastic bands in the joints to dampen some of the vibrations.

UPDATED 8 Mar 2021

1.) Servo struggling to survive the lower motor position, adapter plate and pin added for 28BYJ-48 stepper motor.
2.) Offaxis head mounts added to bring gripper closer to the last arm pivot point.
3.) Various minor mods for strength and usability.

Might want to keep the print light, even as low as 5% and 2 perimeters, the SG90s might struggle with a heavy printed claw section.

Comment & Rating (14)

@IAmNotARobot

Print Profile

0.2mm layer, 6 walls, 25% infill

Instructions on assembly are non-existent. So, it took some effort to get things assembled. I started at the claw and worked back, which was well, since some of the things had to be done in an order because once it was together there was no room to reach a screw. THe place on the middle arms to put the servo adapter, the adapter hung over the edges. I decided to cut those pieces, I also glued them in place, which I think was a great idea. I did have to go to the original version on printables to get the plate for the stepper motor, but that did not fit correctly my stepper motor, not sure if the hole placement for that size is not standard like it is with servos. The two screw on pieces were a little difficult to get threaded. The wrist, that uses one of these joints, does not move easily. I am still not complete, and will update once I get it working. THe design has this on multiple sheets, I was able to get everything to fit in a single 255x255 sheet, but I did have to put one part inside one of the rings. I have added photos from my assembly to help other people assemble this build.

@Mkubichka

how's it looking?

@Mkubichka

You are missing some STL files you will find them in the RAW area labeled adapter plate and adapter shaft.

@Mkubichka

Printed a few times due to servo motors not fitting into arms properly. Eventually had to remodel the pieces in order to use them. if you download the files you will have to view Raw to get them all. The female threaded parts are messed up I was not able to fix those. The original creator has not reached out to me either. good luck to anyone making this! any questions I will be more than happy to help/