BEFORE STARTING: Most of this Robot elements have been “3D printed”. The “official” KIT comes with PLA Ingeo 870 printed parts, much more durable and with higher resistance to impact than the regular PLA. Of course, you can print the parts by yourself in ABS or PLA but keeping this in mind: You can break it if you apply too much force or tight a screw more that you should. We will let you know, during this assembly guide, when you can tighten the screws as much as you can or where you should just fix a part to another not forcing it at all.
If you choose to print the parts by yourself: every filament (PLA, PLA+, ABS, PETG…) has its own set of “perfect printing” parameters in order to achieve the flawless 3D-printed parts, if you overheat the filament, the layer thickness will be increased and the different part´s tolerances may be compromised. This should not be a problem but using a knife to clean the parts a little bit may be mandatory.
During the design process, we have tested many 3D printers and a bunch of filament brands and if you print the parts carefully, you will not find problems at all.
We have uploaded a 3D model of the SCARA Robot Arm to Skecthfab as a visual reference. If you get lost or just want to get a good idea of where everything goes, just check it out
First, gather all the elements to create this Robot. If you have printed the parts by yourself, gently remove the burr and the support of the FOREARM piece. With the kit you will get 2 Allen type keys but you will need a screwdriver and maybe pliers too.
We will to precisely move 3x Stepper motors and 2x Servos. The SCARA Robotic Arm will be controlled via USB cable or WIFI. We have opted to create our own Robotics Control Board, the DEVIA. It has a powerful ARM Cortex M0 processor and a bunch of input/output ports + sensors. Perfect for this purpose. Below, the diagram of the electronics in charge of controlling the Robot.
Above: Connect the motors and servos as indicated. Use the SERVO CABLE Extenders (50cm) to connect the servos to the electronics and the pick the right motor cables length according to the scheme. Never connect, disconnect anything while the power supply is plugged in to the Control Board.
Cables slack: Keep in mind that the cables must let the arm move freely. If they are too tight, they will limit the robot movement (and possibly they will get broken). So, run the cables from the actuators to the control board and move the robot´s arm to its physical limits ( fully retracted, fully extended, gripper completely rotated, raise the Z-BASE to the top…). Once you are sure the cables are not interfering with the movements, fix them using zip ties. You can use the cable wrap to tidy everything up a little bit.