The first goal of this design is to provide a first challenge to young makers, students or beginner.
This robot also appears as a good desktop 3D printer ready to run for small prototyping.

Mechanics :

The robot is composed of 2D parts linked with threaded rods and screws.
Three parts need a simple drilling operation in order to obtain the final design.
A E3D V6 hotend can be placed on the effector transforming this simple robot into a desktop 3D Printer.

The frame is let at the responsability of the maker. Interface holes are on the top of the robot allowing multiple supporting solutions (under a ikea lack table, under a aluminium beam frame etc.).

Once created, there are some interesting improvements achievable by printing 3D parts for the robot itself.

Actuators : Three Nema 17 provide a rotational motion to the short arms through belts.
Controller : Arduino Mega and Ramps 1.4
Firmware : see Icepick below
Existing designs are linked below