UMIRobot

UMIRobot in action

Assembly

Website

https://mmmarinho.github.io/UMIRobot/

Sample gripper and master

Master interface: https://www.thingiverse.com/thing:6107851 Gripper: https://www.thingiverse.com/thing:6107830

Intro

The UMIRobot is a (5+1) degrees-of-freedom (DoF) robotic arm developed for a project-based learning (online) class at the University of Tokyo.

A paper on it has been accepted for the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems.

The robot is intended for undergraduate/graduate level students and was designed in such way that the students can comfortably assemble it at their own homes.

In Thingiverse, I'm sharing assembly requirements and high-definition `.stl` project files under CC BY-NC-SA 4.0. Read the license carefully before continuing.

Disclaimer

All product links in this summary are used only as reference (they are not referrals, I do not get paid for clicks or purchases made through them). This project does not endorse nor is endorsed by any specific manufacturer or vendor.

The parts used in the kit are all standardized, so you can find them worldwide from many different vendors.

Requirements

To assemble the 5-DoF robot, you'll need:

Servo Motors

In this project we use the +-180 degrees position-control models, and NOT the velocity-control models.

`MG996R` (x4) (We use the standard disk horns that come with most models)
`SG90` (x1)

These are hobby servos available in almost every electronics website.

Screws (necessary)

The screws that come as a set with the servos.
M2-8 self-tapping pan head screw (x26) Example

The screws are standardized, you can use from any maker.

Servo cable extension (recommended)

30cm or so (x3) Example

What to print:

Print one of each of the available models:

`umirobot_l1.stl`
`umirobot_l1_cover.stl`
`umirobot_l2.stl`
`umirobot_l2_cover.stl`
`umirobot_l3.stl`
`umirobot_l4.stl`
`umirobot_l5.stl`

Print settings

Resolution: 200
Infil: 15
Supports: Yes
Tested on: QiDi Tech X-MAX, Raise3D
Filament material: PLA
The 3D-printed parts of this project were designed for hassle-free printing, so they should be compatible with most printers and filament brands.
If you have a large print surface, you can print all the parts in one go (e.g. with the X-MAX).
Some early prototypes were printed using SLA, but it is not recommended unless you use a non-brittle resin.

How to assemble

See video at the top of this summary or check this link: https://youtu.be/78IVNJ8RL_8

Software

This design is also backed by a mature software infrastructure.

How I designed this

The UMIRobot was designed from scratch using Autodesk Inventor PRO 2021 with an Educational License. The geometry of the robot was decided in such way that it resembles the geometry of industrial-type arms and can be easily assembled.

About the author

http://www.murilomarinho.info