PyBot Is A 3D Printed SCARA Arm For The Masses

October 19, 2020 by Tom Nardi 10 Comments

We’ve all seen videos of blisteringly fast SCARA arms working on assembly lines, and more than a few of us have fantasied about having that same kind of technology for the home shop. Unfortunately, while the prices for things like 3D printers and oscilloscopes have dropped lower than what many would have believed possible a decade ago, high-performance robotics are still too pricey for the home player.

Unless of course, you’re willing to build it yourself. The PyBot designed by [jjRobots] is an open source robotic arm that should be well within the means of the average hardware hacker. One could argue that this is a project made entirely possible by desktop 3D printing; as not only are most of the structural components printed, but most of the mechanical elements are common 3D printer parts. Smooth rods, linear bearings, lead screws, and NEMA 17 motors are all exceptionally cheap these days thanks to the innumerable 3D printer kits that make use of them.

A custom control board keeps the wiring tight.

Those who’ve researched similar projects might notice that the design of this arm has clearly been influenced by the Mostly Printed SCARA (MPSCARA). But while that robot was designed to carry an extruder and act as a 3D printer, [jjRobots] intends for the PyBot to be more of a general purpose platform. By default it features a simple gripper, but that can easily be changed out for whatever tool or gadget you have in mind.

In the base of the arm is a custom control board that combines an Arduino M0, an ESP8266, and a trio of stepper motor drivers. But if you wanted to build your own version from the parts bin, you could certainly wire up all the principle components manually. As the name implies, the PyBot is controlled by Python tools running on the computer, so it should be relatively easy to get this capable arm to do your bidding.

We’ve seen some impressive 3D printed robotic arms over the years, but the simplicity of the PyBot is particularly compelling. This looks like something that you could reasonably assemble and program over a weekend or two, and then put to work in your ad-hoc PPE factory.

Adding Crush Ribs To 3D Printed Parts For A Better Press Fit

October 15, 2020 by Donald Papp 18 Comments

[Dan Royer] shared a tip about how to get a reliably tight fit between 3D printed parts and other hardware (like bearings, for example.) He suggests using crush ribs, a tried-and-true solution borrowed from the world of injection molding and repurposed with 3D printing in mind. Before we explain the solution, let’s first look at the problem a little more closely.

Imagine one wishes to press-fit a bearing into a hole. If that hole isn’t just the right size, the bearing won’t be held snugly. If the hole is a little too big, the bearing is loose. Too small, and the bearing won’t fit at all. Since a 0.1 mm difference can have a noticeable effect on how loose or snug a fit is, it’s important to get it right.

Crush rib locations highlighted with blue arrows.

For a 3D printed object, a hole designed with a diameter of 20 mm (for example) will come out slightly different when printed. The usual way around this is to adjust printer settings or modify the object until the magic combination that yields exactly the right outcome is found, also known as the Goldilocks approach. However, this means the 3D model only comes out right on a specific printer, which is a problem for a design that is meant to be shared. Since [Dan] works on robots with 3D printed elements, finding a solution to this problem was particularly important.

The solution he borrowed from the world of injection molding is to use crush ribs, which can be thought of as a set of very small standoffs that deform as a part is press-fit into them. Instead of a piece of hardware making contact with the entire inside surface of a hole, it makes contact only with the crush ribs. Press fitting a part into crush ribs is far easier (and more forgiving) than trying to get the entire mating surface exactly right.

Using crush ribs in this way is a bit of a hack since their original purpose in injection molding is somewhat different. Walls in injection-molded parts are rarely truly flat, because that makes them harder to eject from a mold. Surfaces therefore have a slight cant to them, which is called a draft. This slight angle means that press fitting parts becomes a problem, because any injection-molded hole will have slanted sides. The solution is crush ribs, which — unlike the walls — are modeled straight. The ribs are small enough that they don’t have an issue with sticking in the mold, and provide the mating surface that a press-fit piece of hardware requires. [Dan] has a short video about applying this technique to 3D printed objects, embedded below.

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A Smart Speaker That Reminds You It’s Listening

October 15, 2020 by Matthew Carlson 20 Comments

[markw2k9] has an Alexa device that sits in his kitchen and decided it was time to spruce it up with some rather uncanny eyes. With some inspiration from the Adafruit Uncanny Eyes project, which displays similar animated eyes, [markw2k9] designed a 3d printed shell that goes on top of a 2nd generation Amazon Echo. A teensy 3.2 powers two OLED displays and monitors the light ring to know when to turn the lights on and show that your smart speaker is listening. The eyes look around in a shifty sort of manner. Light from the echo’s LED ring is diffused through a piece of plexiglass that was lightly sanded on the outside ring and the eye lenses are 30mm cabochons (a glass lens often used for jewelry).

One hiccup is that the ring on the Echo will glow in a steady pattern when there’s a notification. As this would cause the OLEDs to be on almost continuously and concerned for the lifetime of the OLED panels, the decision was made to detect this condition in the state machine and go into a timeout state. With that issue solved, the whole thing came together nicely. Where this project really shines is the design and execution. The case is sleek PLA and the whole thing looks professional.

We’ve seen a few other projects inspired by the animated eyes project such as this Halloween themed robot that is honestly quite terrifying. The software and STL files for the smart speaker’s eyes are on Github and Thingiverse.

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Spin The Video Track With A Mechanical Flair

October 12, 2020 by Matthew Carlson 16 Comments

One of the most difficult user interfaces to get right is video editing. It is complex and fiddly with large amounts of precision required even after four or five hours of straight editing. Seeking to bring some of that interface out into the real world, [Zack Freedman] built a mechanical video editing keyboard.

The keyboard in question features popular shortcuts and keys to breeze through different parts of editing. The biggest feature is, of course, the large scrubbing knob, allowing [Zack] to fly through long video with precision. We’ve seen our fair share of mechanical keyboards that aren’t traditional keyboards on Hackaday before, such as this number pad or this macro pad.

One of the unique constraints of this project was the fact that Zack had a deadline of two days. This self-imposed deadline was to help focus the work and drive it towards completion. This meant that it had to be designed in such a way that roadblocks or troublesome features could be designed around or cut out altogether. At its heart, this project is just 14 mechanical switches, 4 potentiometers, and a Teensy to drive it all. It is the design, prototyping, and thought that went into this project that makes it noteworthy. There are plenty of lessons here about how to manage a project’s timeline and advice about how to actually finish it.

Code, STL’s, diagrams, and instructions are all on his GitHub.

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A Geared Bench Vise To Clamp All The Things

October 8, 2020 by Danie Conradie 21 Comments

On the eternal quest of workshop upgrades, [Alexandre Chappel] has combined woodworking and 3D printing to add a versatile 0.5 m wide vise with some clever internals to his workbench.

The challenge with such a wide vise is that it requires two timed lead screws on either end of the vise to prevent if from pulling skew under force. This can be done with a chain, belt, or [Alexandre]’s choice, gears. Inside the moving part of the vise he fitted series of 5 herringbone gears. By turning the center gear with a lever, it rotates the gears on the end which are fixed to tow lead screws. The external surfaces of the clamp are made with plywood, and the gears are printed with PLA and high infill percentage. [Alexandre] does say that he is not sure durable the gears are, but they definitely aren’t flimsy. He added an acrylic inspection window to the box section, which we think looks superb with the colored gears peaking through. The back of the vise is mounted inside the workbench, which keeps the look clean and doesn’t take up any bench space.

[Alexandre] does a lot of filming in his workshop, so recently he also built a very impressive and practical camera arm to avoid having to move tripods the whole time. A vise is a must-have tool in almost any workshop, so we’ve seen a few DIY versions, like magnetic base vise and one with a hydraulic vise.

3D Printed SCARA Arm With 3D Printer Components

October 8, 2020 by Danie Conradie No comments

One of the side effects of the rise of 3D printers has been the increased availability and low cost of 3D printer components, which are use fill for range of applications. [How To Mechatronics] capitalized on this and built a SCARA robot arm using 3D-printed parts and common 3D-printer components.

The basic SCARA mechanism is a two-link arm, similar to a human arm. The end of the second joint can move through the XY-plane by rotating at the base and elbow of the mechanism. [How To Mechatronics] added Z-motion by moving the base of the first arm on four vertical linear rods with a lead screw. A combination of thrust bearings and ball bearings allow for smooth rotation of each of the joints, which are belt-driven with NEMA17 stepper motors. Each joint has a microswitch at a certain position in its rotation to give it a home position. The jaws of the gripper slide on two parallel linear rods, and are actuated with a servo. For controlling the motors, an Arduino Uno and CNC stepper shield was used.

The arm is operated from a computer with a GUI written in Processing, which sends instructions to the Arduino over serial. The GUI allows for both direct forward kinematic control of the joints, and inverse kinematic control, which will automatically move the gripper to a specified coordinate. The GUI can also save positions, and then string them together to do complete tasks autonomously.

The base joint is a bit wobbly due to the weight of the rest of the arm, but this could be fixed by using a frame to support it at the top as well. We really like the fact that commonly available components were used, and the link in the first paragraph has detailed instructions and source files for building your own. If the remaining backlash can be solved, it could be a decent light duty CNC platform, especially with the small footprint and large travel area. Continue reading “3D Printed SCARA Arm With 3D Printer Components” →

Making A Halloween Costume Fit For 2020

October 6, 2020 by Matthew Carlson 13 Comments

All across the country, parents are wondering what to do about the upcoming Trick Or Treat season. Measures such as social distancing, contact free treats, or simply doing it at home are all being weighed as a balance of fun and safety. [BuildXYZ] has decided to lean into the challenges this year and incorporate a mask as part of the costume for his boys.

It started with a 3d printed mask, printed in two halves, and sealed with silicon caulk and N95 filter material in the inlet and outlet holes on the sides. The real magic of the mask is the small OLED screen mounted to the front that works along with a small electret microphone inside the mask. By sampling the microphone and applying a rolling average, the Arduino Nano determines if the mouth drawn on the display should be open or closed. A small battery pack on a belt clip (with a button to flash “Trick or Treat” on the screen) powers the whole setup and can be easily hidden under a cape or costume.

This isn’t the first hack we’ve seen for Halloween this year, such as this socially distant candy slide. We have a feeling that there will be many more as the month rolls on and people start to apply their ingenuity to the season.

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