Parametrized SCARA robotic arm. Customizable. 1200+ g PAYLOAD !!!

Remixed version of the SCARA robotic arm.
Masses (motors) were shifted. Two motors act as counterweights. The lifter motor was shifted closer to the basement.
The Openscad file is provided with a belt length calculator.
The STL model was optimized for belts of 336 and 260 mm.
Prototype easily lifts 1200 g and 500 g of payload, as it is visible in videos.

A parametric gripper was designed. The openscad file gives the max and min gripping widths with respect to user's parameters. It is fully customizable, also for the servo used.
See image for further information.

EDIT 18/Dec/18: added blocking screws for top and bottom. Added holes for basement fixing.
EDIT 20/Dec/18: compiled a custom marlin version with servo control
EDIT 08/Jan/19: added a 2DOF gripper (wrist for HS645MG)
EDIT 23/Apr/19: wrist and gripper more rigid
EDIT 29/May/19: finally the endstops holder! by Olmo Ruffini
EDIT 26/March/20: Z endstop holder improved (new version)

GT pulleys drawn by using a slightly modified version of 'Parametric Pulley with multiple belt profiles' by droftarts January 2012

Gears for gripper are generated by using a library developed by Leemon Baird, 2011, [email protected] //http://www.thingiverse.com/thing:5505

https://youtu.be/0FFZ8miT0VE
https://youtu.be/YSeXhJgEgbk
https://youtu.be/pRjkzyHDR5E Pick and rotate
https://youtu.be/Pmd2hQuCnKQ servo test
https://youtu.be/m5fS1hvsXi0 gripper test
https://youtu.be/bAA7MBBQvXQ