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DIY Cartesian Robot Kit Guide

The document provides details on the requirements and components for building a Cartesian robot and robotic arm. It includes lists of required tools, structural kits, electronics, motors and other parts needed. The Cartesian robot specifications include axis travel distances and speeds, while the arm components include servos, brackets, bearings and a claw. Both kits can be purchased on specific websites for around $560-600 and $110 respectively.

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Monark Huny
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
124 views8 pages

DIY Cartesian Robot Kit Guide

The document provides details on the requirements and components for building a Cartesian robot and robotic arm. It includes lists of required tools, structural kits, electronics, motors and other parts needed. The Cartesian robot specifications include axis travel distances and speeds, while the arm components include servos, brackets, bearings and a claw. Both kits can be purchased on specific websites for around $560-600 and $110 respectively.

Uploaded by

Monark Huny
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Tools required:

Hex or Allen keys (imperial from 1/16" to 1/8") ,Combination wrench


(imperial 3/8" and 7/16") Hex socket (imperial 3/8") ,Needle nose
pliers ,Screwdriver kit ,Try square or equivalent tool Measuring tape ,Bosh
drill kit ,

Cartesian robot (Requirements)


Axis travel:

X x (left-right): 12" (~300 mm), Y y (front-back): 7"(~170 mm) ,Z (updown): 5" (~120 mm)
Movement speed
Rapid positioning: XY: 400 IPM (~160 mm/s), Z: 20 IPM (~8 mm/s)

Tracing

Speeds limited by acceleration, recommended 50 IPM (~20 mm/s)


Accuracy: estimated 0.04" (1 mm) +/- depending on movement speed

Structural Kit

This kit includes various lengths of perforated angle, from 1" to 18", as well
as 10-24 screws and Foundation kit used for building static contraptions.
Such as machine or robot frame, holding fixture, test stands etc.

Part list
qty

part

source

angle-1

fabricated

16

angle-2

fabricated

12
12
8
6
6
6
120
120

angle-3
angle-4
angle-6
angle-9
angle-12
angle-18
nut 10-24
screw 10-24 1/2"

fabricated
fabricated
fabricated
fabricated
fabricated
fabricated
http://www.mcmaster.com/#90480A011
http://www.mcmaster.com/#92949A242

Railing Components
qty

component

pic

sliding-element-3.5

sliding-element-2.5

sliding-element-1

linear-bearing-3.5

linear-bearing-2.5

linear-rail-12

linear-rail-18

shaft-mount

leadnut-mount

coupling-nut-clamp

motor-mount set

captive-nut

belt-clamp

thrust-bearing

pulley XL10T

10

belt XL240

11

belt XL280

11

belt XL400

11

acrylic plate 8x6 1/4"

12

Linear Assembly

nut, Shaft ,Coupling nut clamp ,Belt clamp ,Sliding elements ,Linear
bearings ,Linear rails
Part List
qty part

source

sliding-element-1 tube

fabricated

sliding-element-2.5 tube

fabricated

sliding-element-3.5 tube

fabricated

sliding-elements UHMWPE center


pads

fabricated

16 sliding-elements UHMWPE side pads fabricated


4

linear-bearing-2.5 channel

fabricated

linear-bearing-3.5 channel

fabricated

linear-bearing wheel mount

fabricated

16 linear-bearing delrin rings

fabricated

linear-rail-12 angle

fabricated

linear-rail-18 angle

fabricated

20 linear-rail support

fabricated

coupling-nut-clamp angle

fabricated

leadnut-mount

fabricated

shaft-mount angle

fabricated

belt-clamp angle

fabricated

belt-clamp retainer

fabricated

belt-clamp belt pad

fabricated

motor-mount-nema23

fabricated

captive-nut angle

fabricated

dremel-mount

fabricated

channel-2

fabricated

acrylic table 6x8

fabricated

delrin nut 1/4-20

fabricated

XL240 belt

SDP-SI

XL280 belt

SDP-SI

XL400 belt

SDP-SI

pulley XL10T

SDP-SI

bearing #R188-2RS

http://www.vxb.com/page/bearings/PROD/kit80
7

16 bearing #R3-2RS

http://www.vxb.com/page/bearings/PROD/kit71
5

16 precision shim 10

http://www.mcmaster.com/#91140A255

thrust bearing 1/4ID

http://www.mcmaster.com/#6655K13

motor coupling hub

http://www.mcmaster.com/#6408K913

motor coupling spider

http://www.mcmaster.com/#6408K61

threaded rod 36L

http://www.mcmaster.com/#98841A029

screw 1/4 3L

http://www.mcmaster.com/#91440A554

20 hex nut

http://www.mcmaster.com/#90480A029

40 square nut 1/4

http://www.mcmaster.com/#94855A127

coupling nut 1/4

http://www.mcmaster.com/#90264A435

hex nut 1/4 nylon

http://www.mcmaster.com/#94900A029

10 spring washer 1/4

http://www.mcmaster.com/#91102A750

16 screw 10-24 3/8L pan

http://www.mcmaster.com/#90272A240

50 screw 10-24 3/8L bsc2

http://www.mcmaster.com/#92949A240

100 screw 10-24 1/2L bsc

http://www.mcmaster.com/#92949A242

20 screw 10-24 3/4L bsc

http://www.mcmaster.com/#92949A245

20 screw 10-24 1L bsc

http://www.mcmaster.com/#92949A247

10 screw 10-24 3/4L flat

http://www.mcmaster.com/#92210A245

200 hex nut 10-24

http://www.mcmaster.com/#90480A011

40 washer 10

http://www.mcmaster.com/#91083A011

50 screw 6-32 1/8L bsc

http://www.mcmaster.com/#92949A141

20 screw 6-32 1/4L bsc

http://www.mcmaster.com/#92949A144

18 screw 6-32 3/8L bsc

http://www.mcmaster.com/#92949A146

50 screw 6-32 1/4L nylon

http://www.mcmaster.com/#97263A144

spacer 025-05 1/4H nylon

http://www.mcmaster.com/#94639A569

spacer 025-05 1/8H nylon

http://www.mcmaster.com/#94639A567

12 neoprene washer

http://www.mcmaster.com/#90133A017

rubber grommet

http://www.mcmaster.com/#9600K66

screw 10-24 3/4L nylon

http://www.mcmaster.com/#97263A245

hex nut 10-24 nylon

http://www.mcmaster.com/#94900A011

Electronics & Motors:

Part List
qty Part

source1

1
1

http://www.adafruit.com/products/50
http://www.adafruit.com/products/64

Arduino Uno
Half Breadboard

Mounting plate 6"x4"


Fabricated
Flexible jumper wire
1
http://www.adafruit.com/products/153
bundle
1 Female header 30 pos
Digikey #S7028-ND
1 Protoboard
Jameco #2125042
1 Power terminal
Mouser #538-22-04-5042
2 Spade terminal
Mouser #538-19131-0034
4 Zip ties 4"
2 Zip ties 8"
Controller Kit (Mega): 1-7 axes
0 Arduino Mega
http://www.adafruit.com/products/191
1 Full Breadboard
http://www.adafruit.com/products/239
1 Mounting plate 9"x4"
Fabricated
Flexible jumper wire
2
http://www.adafruit.com/products/153
bundle
2 Female header 30 pos
Digikey #S7028-ND
1 Protoboard
Jameco #2125042
1 Power terminal
Mouser #538-22-04-5042
2 Spade terminal
Mouser #538-19131-0034
4 Zip ties 4"
2 Zip ties 8"

Axis Kit
1 NEMA23 stepper motor
1 Pololu stepper driver
1 Heatsink
1 Motor terminal 6 pos
Preformed jumper wire
6
0.3"
Preformed jumper wire
6
0.4"
4 Spade terminal
3 Hookup wire red, ft
3 Hookup wire blue, ft
3 Hookup wire black, ft
2 Endstop angle

Ebay/Alltronics #44A501711
http://www.pololu.com/catalog/product/1182
Enzotech MOS-C1
Mouser #651-1725698
Mouser #517-923345-03
Mouser #517-923345-04
Mouser #538-19131-0034
Digikey #C2004R-100-ND
Digikey #C2004L-100-ND
Digikey #C2004B-100-ND
Fabricated

Known issues

Some edges of some aluminum parts can be sharp. Aluminum is


relatively soft and dulls easily, but still, handle parts carefully.

Some of the threaded holes in sliding elements may not be tapped


completely. These can be fixed with a power drill/screwdriver and a
metal screw.

Set screws in the pulleys and motor couplings may occasionally


become loose if there is too much vibration. Tighten them well.

Note:

This Cartesian kit is available in aprox 560-600 dollars. Only available on this
website
http://www.contraptor.org/kits

Robotic ARM
components
2 x Servo eLab Peers EP-115MG , 4 x Servo MG996R ,6 x Servo wheels ,
3mm aluminum alloy body parts , 5 x Servo bracket ,4 x U-shaped bracket ,3
x U-shaped base bracket ,1 x L-shaped bracket , 4 x Cup bearing ,1 x Claw , 1
x Set of screw nut ,3 x Servo extension wire , Width when claw opens: 55cm

Material is available on this website.


http://www.elabpeers.com/robotic-arm.html
cost approx -110 dollars.

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