GearedScara

Yes,This page is under construction.

If you have time to help us. Thank you very much in advance.

Summary

GearedScara is a printer with new mechanism. No belt, No guide rails or rods on XY. Ver1.0 is made and tested, and we found there are some crucial features to make it better.

Goals and Design

• Smallest parts count number.
  • No belt.
  • No linear rail or rods as a moving guide.
• Simplest assembly.
  • All motors is linear arranged.
• "Real leveling" instead of "Auto leveling"

• Motors arrangement from left to right
  • Z_motor_left
  • Shoulder_motor
  • Elbow_motor
  • Extrude_motor
  • Z_motor_right
• Gears arrangement from left to right
  • Shoulder_master
  • Shoulder_slave
  • Elbow_master
    • Shoulder_slave and elbow_master is Concentric
  • Elbow_slave

What is special

• It's not a standard Scara mechanism.
  • The working area is radical,Bigger working area compare to traditional Scara.
  • The length of two arms must be exactly same.
  • When the shoulder motor is moving,The shoulder gear will move,Same to traditional Scara.But.
    • The elbow arm will move if the elbow motor is not moving.

Pros and cons

• Pros
  • Super quite,the only noise is the fans.
• Cons
  • Moving near by the center point,The shoulder gear should move very fast.even out of the limitation.

Challenge

The Challenge is distributed in mechanic, electronic,and firmware.Really need a strong team to face those challenge.

Mechanic

• Gear backlash
• Bearing and shaft tolerance mating.
• Same length of two arms.
• Hot-end design
  • Filament must goes in horizontally, and come out from nozzle vertically.

Electronic

• Analog hall sensor.
• Wiring
• PCB directly in top frame.

Firmware

• Forward and kinematics.
• Homing process.
• For some kind of path, working at right hand to left hand will be very good.But firmware never do that.
• If gcode draw many big circle, arms will go back to avoid to cross 360 degree.

Reference

• Inspirited from below projects.
  • Polar 3d Printer
  • CoreXY

Newest Source files

• Mechanic source file (solidworks 2016)
  • Resilio Sync