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A 3D printed SCARA robot

Goals:

1. Learn something about how to design drivetrains and gearboxes (in general: mechanics)
2. Learn kinematic calculations and how to implement this in a physical system
3. Explore the limitations of FDM printing
4. Have an allright time

Initial Concept

We wanted to design a robot online consisting of cheap off-the-shelf parts and parts printed with a FDM printer.

Resolution and gearboxes

Calculating the drivetrain

Design

Assemble

Control