Thingiverse
Heavy Duty Sperical Parallel Manipulasator by King_Bluetooth
by Thingiverse
Last crawled date: 5 years, 8 months ago
This is still very much a work in progress, with a long way to go.
I am hoping to get to be able to move some fairly substantial weight - think DSLR and lens. To this end the axels are equiped with bearings (20-37-9mm) with M8 bolt/threaded bar through the centre to hold it together.
The worm gears were chosen as the motors could be switched off and the device still hold its position.
The worms gear are held on the motor shafts with some M3 bots and nut.
the bolts that hold the arms together and platform are M5, with more M3 bold holding each of the motors in place.
You will need supports for the gears, arm hubs and the base, although the base only needs to for the nut recess on the bottom.
Other print setting will depnd on what you want it do. at the moment everything in black or white it 3 shells and 50% infill.
I found thmovemnt could be a little jerky until i filed the surfaces of the worm gears and cogs smooth. Applying grease helped this still further.
There bearing are a tight fit into the recess, but you may need to open the wholes out by hand. I also from the the cnetre shaft was a tight fit so had to remove material from that, but i am not if that was becasue my printer was protoesting about printing things.
at the moment is am using an arduino uno board with a CNC sheild and 3x A4988 stepper drivers. I dont need to use GRBL so here are some pin numbers for you:
Enable all motors - pin 8
Direction
Z: 7, X: 5, Y: 6,
Step
Z: 4, X: 2, Y: 3,
Where is this going from here?
the arms need beafing up and i mamy well use some small bearings on the joints to help with any friction issues that arrises.
possible application of somem sensor to make it quto level.
I am hoping to get to be able to move some fairly substantial weight - think DSLR and lens. To this end the axels are equiped with bearings (20-37-9mm) with M8 bolt/threaded bar through the centre to hold it together.
The worm gears were chosen as the motors could be switched off and the device still hold its position.
The worms gear are held on the motor shafts with some M3 bots and nut.
the bolts that hold the arms together and platform are M5, with more M3 bold holding each of the motors in place.
You will need supports for the gears, arm hubs and the base, although the base only needs to for the nut recess on the bottom.
Other print setting will depnd on what you want it do. at the moment everything in black or white it 3 shells and 50% infill.
I found thmovemnt could be a little jerky until i filed the surfaces of the worm gears and cogs smooth. Applying grease helped this still further.
There bearing are a tight fit into the recess, but you may need to open the wholes out by hand. I also from the the cnetre shaft was a tight fit so had to remove material from that, but i am not if that was becasue my printer was protoesting about printing things.
at the moment is am using an arduino uno board with a CNC sheild and 3x A4988 stepper drivers. I dont need to use GRBL so here are some pin numbers for you:
Enable all motors - pin 8
Direction
Z: 7, X: 5, Y: 6,
Step
Z: 4, X: 2, Y: 3,
Where is this going from here?
the arms need beafing up and i mamy well use some small bearings on the joints to help with any friction issues that arrises.
possible application of somem sensor to make it quto level.