3D Printed 5-Axis Robotic Arm with CV & Motion Planning [2022]
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Design Inspiration
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The primary design for the arm comes from BCN3D's open source MOVEO project
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The open source design allowed me to quickly see how their design worked and where it could be improved upon mechanically
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Additional inspiration was drawn from other hobbyists who took on the challenge of building this project and who documented their own results:
Mechanical Design, Prototyping, & Improvements
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Initial prototyping and testing was conducted using the provided BCN3D MOVEO CAD files
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An oversight in the weight difference between Nylon12 SLS (solid fill) printed parts and ABS FDM 3D (semi- hollow) printed ones proved too much for the BCN3D specified NEMA23 ungeared shoulder & elbow motors resulting in insufficient torque to raise the arm
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To correct for this calculations were made for the necessary torque to lift the arm and an additional payload; a NEMA17 50:1 geared motor was then deemed sufficient for both the shoulder and elbow joints
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Modifications to the CAD model were then made to accommodate the new motor and gearbox into the lower base and upper elbow module
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Additional improvements were made including the redesign of the internal belt tensioning system & the refinement of the 3D printed pullies and gear ratios to improve the arm's mechanical advantage and reduce belt slippage
Initial Build (1)
