4 axis palletized robot arm (robot kinematics) for 3D printing
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@JoergS5 Ok. I will wait for your test bin files then. here is some dimensions of my arm
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@Nakcam thank you! I don't have Fusion, so from your image I can make a prototype as well.
Please measure the triangle lenghts as well, from hinge to hinge each.
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@Nakcam here is a short explanation of the parallelograms:
The blue and red ones are connected through the triangle. The triangle is like a curve of the arms from up to down.
The opposite sides of blue, red and green parallelograms shall be parallel each. When they become "flat", i.e. small angles and opposite sides near at each other, the movements and caluclations will become inexact. So this situations should be avoided.
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@JoergS5
Here is a better drawing. Is there som cad format that you prefer? I can export to most of them. would you suggest any changes to the geometry? -
@Nakcam thanks a lot, I hope this is sufficient information for now to start. After the firmware runs, we can discuss improvements if you like. As always it will depend on what you want to do with it whether it's worth to improve precision etc.
This remembers me of that I need a load lifter, maybe I'll build it this this kinematics. Similar to a IRB 760.
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@JoergS5 My plan is to use this robot to reload my resin printer, so the final version should be capable to handle about 1.5kg. it will be mounted on a linear rail. Repetability will be more important than absolut precision.
I do own a cnc mill and the final version might be in aluminium or laser cut plywood. But its 3d printed for now -
I have added a rotational axis nr1 to the base.
