Pybot: Python + 3D Printed Robotic Arm
Introduction: Pybot: Python + 3D Printed Robotic Arm
This 3D printed Pybot SCARA Robotic arm has been created using common and affordable elements from the 3D printed World (NEMA 17 motors, Linear bearings, timing belts...)
The idea was to create a reliable, fast, modifiable and accurate Robotic Arm for everyone who wants to have a very cool desktop robot and/or anyone willing to learn robotics and mechanics. The control APP has been created with Python
Robotic Arm 3D interactive model
We have written a detailed assembly guide, explained the Mechanical design and code on its landing webpage : https://www.jjrobots.com/scara-robotic-arm-by-jjrobots/
The control code has been written in PYTHON, and it has been thoroughly explained and commented for easy understanding.
The control APP for MacOS and Windows is freely available and 100% OPEN. User guide here
All the links to code, assembly guides...etc can be found here: https://www.jjrobots.com/scara-robotic-arm-by-jjrobots/
Video: Two SCARAs collaborating picking up and piling up 3D printed cubes. We are using a LEAP motion sensor to control both arms at the same time.
The Pybot´s clamp doing clamps things
Pybot Robotic Arm features:
* Google Blockly controllable
* Trajectory movement (you can add up to 20.000 trajectory points)
* Real Time control using your mouse or Xbox/PS4 controller
* Leap Motion gesture control
* Artificial vision control OPENCV (Use your webcam to tell the robot what to do)
* 100% OPEN SOURCE (Arduino control board and Python control code)
* Control it via USB or WIFI
* Smartphone/ Tablet control APP (for iOS and Android devices)
This pyBot (SCARA type) Robotic Arm has been designed with seven conditioning factors in mind:
1. Making it "printable" with any 3D printer in the market no matter its capabilities or limitations
2. Use common elements of the MAKER / 3D printer World
3. Easy to set-up, OPEN and well documented.
4. Python code controlled
5. USB+Wifi controllable
6. 141
Fun, versatile and easy to modify
Side and Top view of the pybot SCARA Robotic arm.
This robot mounts three NEMA17 stepper motors and 2 servos (SG90/MG90 or SG92R)
Mechanical specifications:
* Robot frame total height: 270 mm.
* Nº of axis: 3 (arm) + 2 (clamp)
* Working height with the clamp mounted: 145 mm
* Arm (extended) length: 24 cms
* Working area: 1190 cm2
* Horizontal max. speed: 22 mm/s
* Vertical max speed: 25 mm/s
* Total Weight: 2120 grams
* Repeatability (mm): 0.4mm
* Maximum Payload Capacity (arm extended) = approx. 150 g
* Range of motion per axis: Arm: ~190° Forearm: ~280°
* Driving motors: 3x NEMA17 1.8° stepper motor
* Gripper / Actuator drivers: 2x SG90 /MG90 / MG92R servos
The pyBot SCARA type robotic arm sweeps and angle of approx 315°quickly reaching any point inside that extent. This is an advantage over other robotic arms with vertical elbow configuration (Delta and Polar types) as just one or two simple motor action/s is required to move the arm. Once retracted, the robot is compact and its volume minimal
SCARA arms are good for vertical assembly operations, such as inserting pins in holes without binding or pick and place objects to a certain location when you need speed and accuracy once reached the target. The joints are load points that need robust bearings and high-torque motors or reductions to handle the loads when the arm extends.
They are suitable for complex movements that simulate a human arm with its elbow — reaching under something to grab a part and place it on a conveyor, for example.
Arm´s covered angle. Due to the mechanical relationships between arm and forearm, a proper control of the forearm is a must during the arm movement. The forearm can cover up to 280°. While moving the forearm, the arm´s motor has to be steady (holding itself in position) A regular servo (SG90, MG90 or SG92R) will work as wrist and will be mechanically limited to a (approx) 160° angle. 949