Improve arm design

implementation/SCARA/hardware/openSCAD/.gitignore

@@ -0,0 +1 @@
+*.stl

implementation/SCARA/hardware/openSCAD/carriage.scad

@@ -2,6 +2,7 @@ use <stepper.scad>
 use <arm.scad>
 use <marker.scad>
 use <electronics.scad>
+use <sg90.scad>
 //module arm(holes, width, thinkness, bore){
 
 
@@ -17,39 +18,150 @@ b = acos((arm1_sq + length_sq - arm2_sq)/(2 * arm1 * length));
 c = acos((arm1_sq - length_sq + arm2_sq)/(2 * arm1 * arm2));
 angle1 = b + atan2(y,x) - 90;
 angle2 = angle1 - 90 + c;
-stepper_spaceing = 45;
+stepper_spaceing = 47;
 stepper_offset = 55;
 arm_thickness = 3;
 arm_width = 10;
 arm_offset = 15;
 
-%translate([stepper_offset,0,0]) {
-    // stepper on joint C
-  rotate([0,90,0]) stepper_103H5205();
-   // stepper on joint A
-  translate([0,stepper_spaceing,0]) rotate([0,90,0]) stepper_103H5205();
+bus_diameter = 3 + arm_width;
+shaft_bore = 5.15;
+joint_bore = 3.2;
+joint_spacing = arm_thickness+1;
+set_screw_bore = 2.5;
+
+$fn = $preview? 32 : 72;
+
+module arm3 (){
+  difference(){
+    union(){
+      translate([0,0,-arm_thickness/2])cylinder(d=bus_diameter,h=10-arm_thickness/2);
+      arm([0,25],arm_width,arm_thickness,joint_bore);
+    }
+    cylinder(d=shaft_bore,h=16,center=true);
+    rotate([0,-90,0]){
+      rotate([45,0,0]) translate([arm_thickness,0,0]) cylinder(d=set_screw_bore,h=20);
+      rotate([-45,0,0]) translate([arm_thickness,0,0]) cylinder(d=set_screw_bore,h=20);
+    }
+  }
+}
+
+module arm0 (){
+  difference(){
+    union(){
+      cylinder(d=bus_diameter,h=20,center=true);
+      arm([0,25],arm_width,arm_thickness,joint_bore);
+    }
+    cylinder(d=shaft_bore,h=21,center=true);
+    rotate([0,-90,0]){
+      translate([5,0,0]) cylinder(d=set_screw_bore,h=20);
+      translate([-5,0,0]) cylinder(d=set_screw_bore,h=20);
+    }
+  }
+}
+module arm5a(){
+  rotate([90, 0, 90]) arm([25,0,50],arm_width,arm_thickness,joint_bore);
+}
+
+module arm5b(){
+  arm5a();
+  difference(){
+    translate([-arm_thickness/2-2.5,35,-14]) rotate([0,0,180]) {sg90_bracket();
+     // sg90(-90);
+    }
+    translate([0,25,0]) rotate([0,90,0]) cylinder(d=7,h=10,center=true);
+  }
+}
+
+module arm5(){
+  translate([joint_spacing,0,0]) arm5a();
+  translate([-joint_spacing,0,0]) arm5b();
+  translate([0,50,0]) difference() {cube([arm_thickness+2*joint_spacing,10,arm_width], center=true);
+  cylinder(d=joint_bore,h=40,center=true);
+  }
+}
+
+module arm6a(){
+  union(){
+    rotate([0,0,90]) arm([0,30-arm_width/2],arm_width,arm_thickness,joint_bore);
+    translate([0,30-arm_width/2,0]) cube([arm_width,arm_width,arm_thickness],center=true); //cylinder(h=arm_thickness,d=arm_width,center=true);
+    }
+}
+
+module arm6b(){
+    difference() {
+    length = 29;
+        hull() {
+            cylinder(h=arm_thickness, d=arm_width,center=true);
+            translate([0,length,0]) cylinder(h=arm_thickness, d=5, center=true);
+            }
+            cylinder(h=arm_thickness+1, d=joint_bore,center=true);
+            translate([0,length,0]) cylinder(h=arm_thickness+1, d=2, center=true);
+            }
+}
+
+module arm6(){
+  arm_offset = 5+arm_thickness/2+1;
+  difference(){
+    union(){
+      translate([0,0,arm_offset]) arm6a();
+      translate([0,0,arm_offset]) rotate([0,0,90]) arm6b();
+      translate([0,0,-arm_offset]) arm6a();
+      translate([0,30,0]) {
+       translate([-20+arm_width/2,0,0])  rotate([0,90,0]) cylinder(d=18,h=20);
+        translate([-5,0,0]) {
+          rotate([-45,0,0]) cylinder(d=7,h=11);
+          rotate([-135,0,0]) cylinder(d=7,h=11);
+        }
+      }
+    }
+    translate([0,30,0]){ 
+      translate([-20+arm_width/2-1,0,0])rotate([0,90,0]) cylinder(d=14.9,h=22);
+      translate([-5,0,0]) {
+      rotate([-45,0,0]) cylinder(d=set_screw_bore,h=40);
+      rotate([-135,0,0]) cylinder(d=set_screw_bore,h=40);
+      }
+    }
+  }
+
+}
+
+//!arm6();
+
+translate([stepper_offset,0,0]) {
+  // stepper on joint C
+  rotate([-90,0,-90]) stepper_103H5205();
+  // stepper on joint A
+  translate([0,stepper_spaceing,0]) rotate([90,0,90]) stepper_103H5205();
 
   translate([arm_offset,0,0]){
-    
-    translate([0,stepper_spaceing,0]) rotate([angle1,0,0]) rotate([0,-90,0]) arm([0,-25],arm_width,arm_thickness,5);
+
+    //arm0
+    translate([0,stepper_spaceing,0]) rotate([angle1,0,0]) rotate([0,90,0]) arm0();//([0,-25],arm_width,arm_thickness,5);
     //arm1
-    rotate([angle1,0,0]) rotate([0,-90,0]) arm([0,-25,arm1],arm_width,arm_thickness,5);
+    rotate([angle1,0,0]) rotate([0,-90,0]) 
+      difference(){
+        arm([0,-25,arm1],arm_width,arm_thickness,joint_bore);
+        cylinder(d=shaft_bore, h= 10, center=true);
+      }
 
     //arm2
-    translate([3,0,0]) rotate([angle1,0,0]) translate([0,0,-25]) rotate([-angle1,0,0]) rotate([90,0,90]) arm([0,stepper_spaceing],arm_width,arm_thickness,5);
-    translate([-3,0,0]) rotate([angle1,0,0]) translate([0,0,-25]) rotate([-angle1,0,0]) rotate([90,0,90]) arm([0,stepper_spaceing],arm_width,arm_thickness,5);
+    translate([3,0,0]) rotate([angle1,0,0]) translate([0,0,-25]) rotate([-angle1,0,0]) rotate([90,0,90]) arm([0,stepper_spaceing],arm_width,arm_thickness,joint_bore);
+    translate([-3,0,0]) rotate([angle1,0,0]) translate([0,0,-25]) rotate([-angle1,0,0]) rotate([90,0,90]) arm([0,stepper_spaceing],arm_width,arm_thickness,joint_bore);
 
     //arm3
     rotate([angle2,0,0]){
-      translate([3,0,0]) rotate([90,0,-90]) arm([0,25],arm_width,arm_thickness,5);
-      translate([-3,0,0]) rotate([90,0,-90]) arm([0,25],arm_width,arm_thickness,5);
+      translate([3,0,0]) rotate([-90,0,-90]) arm3(); //([0,25],arm_width,arm_thickness,5);
+      translate([-3,0,0]) rotate([90,0,-90]) arm3(); //arm([0,25],arm_width,arm_thickness,5);
       translate([0,-25,0]) rotate([angle1-angle2,0,0]) {
         // arm4
-        rotate([0,-90,0]) arm([0,arm1],arm_width,arm_thickness,5);
-        translate([0,0,arm1]) rotate([angle2-angle1,0,0]) {
-          translate([3,0,0]) rotate([90, 0, 90]) arm([25,0,arm2+25],arm_width,arm_thickness,5);
-          translate([-3,0,0]) rotate([90, 0, 90]) arm([25,0,arm2+25],arm_width,arm_thickness,5);
-          translate([-stepper_offset-arm_offset,arm2+25]) rotate([0,90,0]) marker(0);
+        rotate([0,-90,0]) arm([0,arm1],arm_width,arm_thickness,joint_bore);
+        translate([0,0,arm1]) rotate([angle2-angle1,0,0]) rotate([0,0,0]) {
+          arm5();
+          translate([-stepper_offset-arm_offset,arm2+25]) rotate([0,90,0]) marker("red");
+          translate([0,50,0]){
+            arm6();
+          }
         }
       }
     }
@@ -57,18 +169,18 @@ arm_offset = 15;
 }
 
 // electronics
-translate([20,80,-10]) rotate([-0,-90,0]){
-color("olive") translate([-12,-2,5]) cube([40,61,1]);
-stepper_controller();
-translate([0,25.4,0]) stepper_controller();
+translate([40,0,-60]) rotate([-0,-90,0]){
+  color("olive") translate([-12,-2,5]) cube([40,61,1]);
+  translate([20,5,0])
+    rotate([0,0,90]) {
+      stepper_controller();
+      translate([30.4,0,0]) stepper_controller();
+    }
 }
 
 //carriage
 translate([stepper_offset,0,0])
   rotate([0,90,0]) {
-    stepper_103H5205_mount();
-    translate([0,stepper_spaceing,0]) stepper_103H5205_mount();
+    stepper_103H5205_bracket();
+    translate([0,stepper_spaceing,0]) stepper_103H5205_bracket();
   }
-
-
-

implementation/SCARA/hardware/openSCAD/sg90.scad

@@ -0,0 +1,48 @@
+
+sg90_length = 22.2;
+sg90_width = 11.8;
+sg90_flange_pos = 15.9;
+sg90_flange_thinkness = 2.5;
+sg90_flange_length = 5;
+sg90_flange_hole_pos = 2.7;
+sg90_flange_hole_bore = 2;
+
+module sg90(rot){
+  translate([0,0,-sg90_flange_pos+7]) {
+    color("steelblue") import("SG90_v7.stl");
+    translate([5.9,16.3,32]) rotate([0,180,rot]) import("SG90_arm_v2.stl");
+  }
+}
+
+module sg90_bracket_halve(){
+  thinkness = 5;
+  translate([0,0,-thinkness]) difference(){
+    cube([sg90_width,sg90_flange_length,thinkness]);
+    translate([sg90_width/2,sg90_flange_hole_pos,-1]) cylinder(d=sg90_flange_hole_bore,h=thinkness+2);
+  }
+}
+
+module sg90_bracket(){
+hull(){
+translate([-2,-2,0]) cube([2,27,13]);
+translate([-5,-2,8]) cube([5,27,5]);
+}
+translate([-2,-2,0]) cube([16,2,7]);
+translate([-2,23,0]) cube([16,2,7]);
+translate([-2,23,9.5]) cube([4,2,3.5]);
+translate([-2,-2,9.5]) cube([4,2,3.5]);
+
+difference(){
+translate([12.5,-2,0]) cube([1.5,27,7]);
+translate([17,11.5,4]) rotate([0,0,45]) cube([20,20,10],center=true);
+}
+//import("servo-halter-sg90-1.stl");
+}
+/*  translate([0,0,sg90_flange_pos]) {
+    translate([0,-sg90_flange_length,0]) sg90_bracket_halve();
+    translate([0,sg90_length,0]) sg90_bracket_halve();
+  }*/
+
+
+//sg90(90);
+sg90_bracket();

implementation/SCARA/hardware/openSCAD/stepper.scad

@@ -44,24 +44,60 @@ module four_cylinder(distance,height,radius){
   }
 }
 
-stepper_103H5205();
-translate([0,0,0.2]) stepper_103H5205_mount();
+rotate([0,0,90]) stepper_103H5205();
+translate([0,0,0.2]) stepper_103H5205_bracket();
 
 module stepper_103H5205_mount() {
-  body_width = 42;
+  body_width = 43;
   flange_diameter = 22;
   hole_seperation = 31;
-  hole_bore = 3;
+  hole_bore = 4;
   hole_depth = 4;
   corner_radius = 5;
   bracket_thickness = 4;
 
   difference(){
+  hull(){
     body(length=bracket_thickness, width=body_width, corner_radius = corner_radius);
+    }
     translate([0,0,-0.5]) four_cylinder(hole_seperation/2,bracket_thickness+1,hole_bore/2);
     translate([0,0,-0.5]) cylinder(h=bracket_thickness+1,d=flange_diameter+1);
   }
 }
+
+module stepper_103H5205_bracket() {
+  body_width = 43;
+  flange_diameter = 22;
+  hole_seperation = 31;
+  hole_bore = 4;
+  hole_depth = 4;
+  corner_radius = 5;
+  bracket_thickness = 4;
+
+  difference(){
+  hull(){
+    body(length=bracket_thickness, width=body_width, corner_radius = corner_radius);
+    translate([body_width/2-5,0,bracket_thickness/2])
+    cube([10,body_width,bracket_thickness],center=true);
+    }
+    translate([0,0,-0.5]) four_cylinder(hole_seperation/2,bracket_thickness+1,hole_bore/2);
+    translate([0,0,-0.5]) cylinder(h=bracket_thickness+1,d=flange_diameter+1);
+  }
+  mount_side(body_width, bracket_thickness);
+  mirror([0,1,0])
+  mount_side(body_width, bracket_thickness);
+  translate([body_width/2, -(body_width/2+bracket_thickness) ,-body_width*0.7+bracket_thickness])
+  cube([bracket_thickness,bracket_thickness*2+body_width,body_width*0.7]);
+}
+
+module mount_side(body_width, bracket_thickness) {
+  translate([body_width/2 - body_width *0.7, body_width/2, bracket_thickness- body_width *0.7])
+  difference(){
+  cube([body_width*0.7,bracket_thickness,body_width*0.7]);
+  rotate([90,0,0])
+  cylinder(h=bracket_thickness*2.5,r=body_width*0.7-bracket_thickness,center=true);
+  }
+}
     
 
   

implementation/SCARA/hardware/openSCAD/steppertester.scad

@@ -0,0 +1,18 @@
+use <stepper.scad>
+$fn = $preview? 32 : 72;
+
+stepper_103H5205();
+translate([0,0,50]) rotate([180,0,0]) stepper_103H5205();
+union(){
+  translate([0,0,4]) rotate([180,0,0]) stepper_103H5205_bracket();
+  translate([0,0,46]) stepper_103H5205_bracket();
+}
+
+translate([0,0,25]) difference(){
+  cylinder(h=30,d=12,center=true);
+  cylinder(h=32,d=5,center=true);
+  rotate([90,0,0]) {
+    translate([0,8,0]) cylinder(h=32,d=3);
+    translate([0,-8,0]) cylinder(h=32,d=3);
+  }
+}