EZER Print Modular Robot Arm

Updates:
11/13/17 - uploaded the longer version, do not make one section of the arm out of the longer parts and the other out of the original length, the program will not be able to solve for that.

Youtube Video!

EZER Build by Old Farm Hand! - https://youtu.be/YoQsGiXItqQ

• Torque Testing the new design with the 66:1 https://youtu.be/YyoCF6DXfvI

####Features:

1. This is a redesign of the EZ print robotic arm, more info can be found on that page than this one.
2. Less parts, no hardware needed to hold the joint together.
3. Ring holders have anti-backlash models where the grip teeth are rotated 1 degree.
4. Much more solid
5. This version requires no hardware except 3mm bolts to hold the steppers on.

####Where's Everything Else???
#####https://www.thingiverse.com/Gear_Down_For_What/collections/robotic-arm
######In this collection you will find:

• All other related parts for this project
• Future updates to this Project
• All user submitted remix's
• Click that watch button to get notifications on future uploads!

####Special Instructions For The Gearbox(s):
1.) Pick your favorite gearbox from the collection
2.) Print out all 4 ring gears, the "4 Module planet gears", the "One piece sun" and "Sun gear #4"

• The Gearboxes that are to be used with this joint are located in the "Robotic Arm" collection.
• Don't get confused by other similar gearboxes that I have made, if they are compatible, they will be listed in the collection, link is above.
• The gearboxes are used to support the joint, like emmets gear bearing, but they also drive the joint, so they are necessary!

####Drive motors

• Nema 17 for all
• Don't buy cheap Nema 17 motors, they will get hot and melt the gears!

A and B?

• The "Rotating Base" is an "A" style connection, so the "B" Style joint gets mounted to it, so on and so forth.
• Connections with a stepper motor mount are considered "A" Style connections.
• It's an unavoidable compatibility problem that arose from the recent simplification of the design. Opposite's attract, A only connects to B and B only connects to A. yada yada.

####Compatibility With Other Designs
This Design is only compatible with the "EZ Print" design if you understand the "A" and "B". The major downfall being that with the EZ Print design, each section of arm had a "A" style end and a "B" style end. This new design has two "A" Style ends on one section, and two "B" style ends on the other section. For that reason, be careful if deciding to use these parts in combination with the others. If you have an "A" section meeting up to another "A" section the arm will have a sideways offset of 10 mm. This newer design also ended up 1mm longer per section (center of gearbox to center to gearbox) than previous designs.

####Bendy Bend Bend:
This arm rotates 230 degrees before colliding with itself in the cad program but it is actually more like 229 degrees real life.

Other Important Info:

Electronics, Firmware?!?

• Program that I use is here: https://github.com/GearDownForWhat/RobotArm
• I run this on an Arduino DUE with a CNC shield and DRV8825 Stepper drivers, Arduino MEGA "might" also work for this.
• Arduino Due A000062
• CNC Shield Expansion Board with drv8825 Stepper Motor Drivers
• Nema 17 Steppers I used for J0 and J1
• Smaller (cheaper) Steppers and Optional Wires For Cheaper and Smaller Steppers

#####CAD Files??

• I Included the Fusion 360 Project with this, But the most recent version of this project can be downloaded in lots of different formats from this link: http://a360.co/2viZyW5
  and the longer version at this link: http://a360.co/2iTdWva

• Feel free to create your own modifications and parts for this project, and if you do, make sure you create a remix and upload them, then I'll add them to my main collection so the whole community can share them! Thanks!

#####Show Your Work!

• Make a "make" and show everyone what you made! (make? :0) Everyone will thank you for it!

####For More Cool Projects and Upgrades, Don't forget to Follow Me on Thingiverse and Subscribe to my Youtube Channel

Gear Down For What?

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