Evezor Robotic Arm

Evezor is an open source SCARA class robotic manufacturing platform.

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Evezor is my SCARA class robotic arm.

We've already used it to 3D print, robotic bartender, laser engrave, laser cut, weld, plasma cut, PCB mill, PCB pick and place assembly, glass etching, 2.5D milling, 3D contour milling, pen plotting and more.

When I looked to find a machine that could not only complete a task one day, but could be retooled for something new the next week. I've built many 3D printers, lathes and other machines so I knew most of the tried (cartesian, corexy, delta) designs wouldn't give me what I wanted. The SCARA class machines seemed like they could fit the bill and I think I was right.

Having used many machines, from hobby built 3d printers, to mini mills and lathes and large CNC machining centers I had a good feel for the performance I was looking for. I wasn't looking to try and build the cheapest machine out there, but I was out to build a highly reliable and accurate machine for the least cost possible. Fortunate enough to have the right tools I opted for all steel construction with a welded frame.

I originally started this project after I made an automated hole drilling machine. It was used to drill some 26 holes in these tubes I used for some other project. It used the lite arm and studiously drilled holes in some 500 tubes to complete the job.

While the machine worked quite well, I was left wanting. As created it could only complete a single task. In addition I wasn't very pleased with the reach, payload, resolution and ease of programming achieved by the lite arm.

Here it is doing some motion tests

Source files coming soon in future updates as I get them in sharable order.

Tomorrow we will mill the open source logo out of wood

  • 1 × Ramps Motion Board You can use just about any 3d printer board out there. In the current configuration we're driving the arm with forward kinematics anywasy
  • 1 × Raspberry Pi

  • 2.5D Milling

    anfroholic2 hours ago 0 comments

    Today we milled the Open Source Initiative's Logo

    Our toolhead today is a full size 2hp router with a 3/8″ 2 flute bit.

    The stock material is a laminated piece of brazillian cherry between two pieces of pine.

    The toolpath was created with Kiri:Moto. With all these projects, for better or worse, I tried my best to use open source software. I would have made a tutorial on this if I didn’t have such a bad experience using the software. It’s not the worst software ever but made some unusual decisions with some of its toolpaths. I will be looking for some better software, if you have some suggestions please leave a comment.

  • Laser Cutting and Inkscape Tutorial

    anfroholic2 days ago 0 comments

    Today we lasercut the letter E into some cardstock

    We used Inkscape to create the gcode for this letter.

    We also created a tutorial so you can learn to make patters of your own. See it here.

    Our toolhead here was just a little diode laser we source online that we put into a CPU heatsink and clamped to our arm.

  • Glass Etching

    anfroholic7 days ago 0 comments

    Today we etched the letter U into glass

    Our tool post, once again, was just a hunk of 2X4. Then we used a hose clamp to secure the rotary tool to the tool post.

    We used a diamond bit to do the glass etching and some lightly soapy water as coolant.

    The toolpath and design was created in Inkscape.

  • Hot Wire Foam Cutting

    anfroholic03/22/2017 at 05:21 0 comments

    Today we made the letter ‘S’ in foam.

    The general frame was constructed with 2X2 and 2X3 wood pieces and a 6″ 1/2-13 bolt up the spine.
    I used stainless steel wire for the element, but nichrome wire would have been a better choice.

    Links to the .svg and .stl files can be found on this project’s thingiverse page

    Tomorrow we will do some glass etching

  • Let's Start With Some Speed Tests

    anfroholic03/21/2017 at 01:09 0 comments

    I was just running some speed tests and tuning in some of the accelerations. It seems I've hit the max step rate of Marlin as increasing feedrates had no effect.

    Banana for scale.

  • So It Begins

    anfroholic03/20/2017 at 09:06 0 comments

    I don't have a lot of photos of the original machine building, but here's a few

    The larger grey wheel was an early prototype. After some initial testing I realized that I would need to have much larger shafts for this to be as stable as I would like.

    Here's the first set of GCODE I ran.

    G1 X0 Y0
    G1 X50
    G1 Y50
    G1 X0
    G1 Y100
    G1 X50

    More to come tomorrow.

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Professor.Jez wrote 4 days ago point

Lol I was going to ask what the banana was for but I made it down here anyway :-)

Really nice piece of heavy metal you have there, beautiful build. You must have a sweet workshop to be able to machine those parts...

  Are you sure? yes | no

anfroholic wrote 4 days ago point

I am very fortunate, yes.  Thank you for the kind comments.

  Are you sure? yes | no

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