Convert your Delta 3D printer into an affordable 6-axis robot.

This repository contains a coaxial Spherical Parallel Mechanism(SPM) module, designed to replace the end effector of a Delta 3D printer, effectively adding 3 more axes to the machine. Compare to robotic arm that can cost up to 20K per piece, you can build this version of 6 axis robot for less than 500USD (printer, hardware and print cost included).

Compare with robotic arms, SPM provide better performance than their serial manipulator counterparts with regard to positioning accuracy, speed, force application, and payload-to-weight ratio.

This project, together with Seastar and Repetier6X, was made possible by the generous support of SPACE10 through a research residency program in summer 2019.

Hardware required:

• Anycubic Linear Plus Or equivalent. This system was chosen for its fast Z feed rate and linear rail for sturdy linkage(vs magnetic)
• Azteeg X3 Pro Or equivalent board with support up to 6 stepper motors
• Zesty Drive Cables x3
• Stepper motors x3
• Flexible drive shaft x3
• Retainer rings/E-clip M5 x6, M3 x4
• M3 screws

Fusion360

Download the .f3z or go to https://a360.co/2IaXe86 . To use the fusion360 file, go to file -> open, and choose the .f3z file. Modify parameters to change the design to fit your use case.

3D Print Guide:

This version was designed to be printed on an SLA printer. Avoid placing support on mating surfaces.
For tighter joint fit, print parts with high-hardness resin. Tough resin(eg formlab tough) might result in loose joints.

Assembly Guide

Consult the explode diagram or https://a360.co/2IaXe86 for assembly order.
Important!!! Lubricate before assembly! Tight fits parts could melt together under high friction. Apply PTFE lubricant/low viscosity lubricant to contact areas. Remove any traces of support on contact surfaces to reduce wearing.

Software:

• This 3-DOF SPM end effector can be controlled by any 6-axis firmware or with Repetier6X. https://github.com/anthonychukh/Repetier6X
• Tool path can be created with SeastarNC, a Rhino Grasshopper plgin for 3D-printer-based robotic control. https://github.com/anthonychukh/SeastarNC
  Since most firmware do not support SPM, SeastarNC has build in component to precompute rotational input for a specific orientation.

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

!!!CAUTION!!!

Working with electronic devices could be dangerous.
Always take precaution accordingly and make sure you are well trained and informed to work on the specific system Failure to operate your machine correctly could result in hardware damage and/or serious injuries