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Day 16: Redesign of Body 4, Covers 5 and some small changes to the gripper.

A project log for Building and improving the Thor+ robot arm

Building a 6-axis robot arm based on the AngelLM's Thor robot and the add-on's and improvements of dannyvandenheuvel.

SepioSepio 09/17/2017 at 14:332 Comments
The last few days I changed some parts. I added some 40x40x11mm cooling fans to the ART4BottomBody . There isn't much room but it fits. I have test printed it and everything fits but i made some of the walls too thin (on the left and right side of the vent holes). 
I also tested if I could fit the GT2 208 mm belts but the motors can go high enough. So i ordered GT2 232 mm belts. If they are too long then I have to change the mounts between the upper and lower body. In the image below on the top the motor mount (and motor) are touching the mount with the screw hole.

On the left of the left fan hole (and on the right of the right hole) the wall is too thin. The downloadable version (below) is 1mm thicker.

Because of the fan holes the ART5 covers didn't fit anymore. So I recreated them. Below the Base part.


And the upper part. I also made them in two parts. This way it is possible to use two colors and it can be printed with less print support.


This is the way Danny designed it. (But his downloadable STL is different). I added the screw holes for the covers. 


I changed the gripper mounting plate to a trapezium so both parts will stay together and the existing screw holes will keep them together. The GripServoMount has some extra room for the servo (on the bottom). The GripMountB is a little bit thicker. I also added the GripGear.stl (which was missing in Danny's version). The ART56 interface place also contains a hole for future usage.


Below the gripper. On the right side of the servo there is some extra room.


To mount the gripper from right to left:

- GripServoMount

- Washer

- Plastic ring with bearing

- Large gripper with bearing

- Washer

- Small gripper with bearing

- Plastic ring with bearing

- Washer

- GripMountB


I might redesign Axle 6 again. Olaf made a comment on how to wire the gripper. I would like to do that by making this Axle hollow and use large bearings on the outside of the shaft. 

So I already added a hole to the Art56Interface (on the right side).


Danny asked about my printer. Below my print setup. I have a Ultimaker 2 Extended + with top cover and door. I use some Alkotip wipes to clean the glass plate before printing. After cleaning I use a (very) little bit of 3DLAC.


The Art4UpperBody is currently printing. The Art5Top Covers are almost finished. 

Below the changed parts:

- Day 16.zip The Body4 and Cover5 parts are untested. Next week I can tell if everything fits.

- Step file of version 3.05

Discussions

dannyvandenheuvel wrote 09/18/2017 at 07:24 point

Your doing some fantastic work! At the end it will be a fully completed project with all the add-on's,
by not enough time on my side I am very happy someone works at the finnal touch! I will add this changed design into my graphical GUI controler :-)

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Sepio wrote 09/18/2017 at 17:12 point

Thank you for the nice comment. I enjoy working with Fusion 360 and I want to make Angels and your version (a bit) better. The coming weeks I want to make the arm mechanically perfect. Then I will start the software part. This will be a steep learning curve. But I’am looking forward to create some code. 

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