MPSCARA: Mostly Printed SCARA Robot (For Historical Purposes Only!)

Introducing the MPSCARA!

UPDATE: This project is no longer being supported. A more-evolved version of this concept with a more active support team is available here.

WARNING: This project is still a work in progress, we cannot promise that it will run as well as intended, but are committed to helping everyone get their machines operating as smoothly as possible. It still requires a lot of polish, but we will be continuing with our updates as we produce them. Thank you for your patience, please comment or message with any issues you run into while building/using your MPSCARA and we will do our best to help!

This is a SCARA robotic arm designed to be a cheap, compact, and easy-to-build 3D printer. It can also be equipped with a marker (An older version of the MPSCARA using a marker can be found here), with further tools potentially on the way. It is heavily based off Idegraaf's design, with some quality-of-life updates added in.

If you are interested in building one yourself, download the three zip files crack them open. They contain:

• V1.X Marlin - Preconfigured marlin firmware for your MPSCARA V1
• V1.X Software - A Python-based gcode conversion script, complete with usage instructions and comments.
• V1.X STL Files - A full repository of STL files needed to build your very own MPSCARA V1.x

You will also want to download the following:

• Bill of Materials V1.X - In excel and pdf formats, complete with prices and links to where the components may be purchased. Note: Most hardware will be available at nearby hardware stores, and likely sold in lower bulk than online, I strongly suggest you check those locations first to get better deals.
• MPSCARA Instructions V1.X - Also known as a process plan or construction instructions, this tells you exactly how to build, wire up, and install the firmware onto your MPSCARA.

As the file names imply, each distinct component has its own version number. If any issues are encountered, or any clarifying questions arise, the files will be updated along with notes on this page to indicate what was changed and why (Along with version increments on the related files). That being said, please comment on here or PM me with questions or suggestions for this project.

Special thanks to Professor Mark Ganter for guidance, Ashley Pigott for testing and proof-reading, the Spring 2018 Class of ME 480 at UW for testing, and Molly Carton for advice.

The MPSCARA was designed, built, and tested in the Solheim Additive Manufacturing Lab at the University of Washington.

Post-Printing

How to Get the BEST out of your MPSCARA Construction Experience

Depending on your printer, some pieces may be printed with slight lips at the bottoms. In order to save frustration, it is suggested that those are gently filed off, especially on the following pieces:

• Linear_Bearing_V1.stl
• Upper_Upper_Arm_V1.stl
• Forearm_V1.stl

Otherwise, be sure to carefully follow the process plan/instructions. Most of the machine is fairly straight-forward, but there are some little tricks in there that help quite a bit.

Design History

V1.2

Released on 5/29/2018

Bugfixing

-Increased reliability of the Python script in the Software.zip file, added some test gcode files

-Reworked file system to make life easier. No longer a lone .zip that contains everything, set to be more modular. If you want to make one, download all three .zip files, along with the instructions and the bill of materials. It is all the same as it was before, just organized slightly differently.

-Updated Base part to V1.2, occasional issues with motor cables having interference with some of the plastic edges, should fix issue.

V1.1

Released on 10/2/2017

Bugfixing

-Accidentally uploaded wrong Linear Bearing file, V1.1 now has the notch mentioned in the instructions. If you already printed the V1 of this part 3 times, you only need to print one of the V1.1s for use on the bearing that connects to the Endstop Clip. The notch helps keep the clip from rotating

-Increased height of the Baseplate file in order to increase stability of the 8mm rods.

-Added more comments to the software to give more detailed error messages.

Quality of Life

-Uploading the major components separately as well as in the combined ZIP file. (Software, STLs, and Marlin are in their own files so you don't need to download the entire new file if you only need to do partial updates.)

10/17/2017

Bugfixing

-Uploaded wrong file forZ Carriage Bottom, new file specifies that the 'Y' wires are on that piece. No structural/functional changes, simply changed for ease of wiring/assembly.

V1

Released on 9/22/2017

Category: 3D Printers