Hi everyone In all the designs for wafer transfer robots, I've seen so far on YouTube, they're horizontal only, with one linear actuator for changing the z-axis.
I think however, that this design here is better, because we can also use it to load wafers into machines, which don't have horizontal loading: https://www.thingiverse.com/thing:1838120
What do you think? I just bought a 3D printer today and it should arrive in the next few days, then I can start prototyping.
Cheers -lev
On Mon, Jan 31, 2022 at 6:38 AM David Lanzendörfer leviathan@libresilicon.com wrote:
Hi everyone In all the designs for wafer transfer robots, I've seen so far on YouTube, they're horizontal only, with one linear actuator for changing the z-axis.
I think however, that this design here is better, because we can also use it to load wafers into machines, which don't have horizontal loading: https://www.thingiverse.com/thing:1838120
What do you think?
check the gearing, step-accuracy, and torque on the servos. TowerPro MG995 https://www.towerpro.com.tw/product/mg995/
are you happy with the possibility of the servos juddering under load, and possibly bashing the wafer against the place it's supposed to be delivering it?
11kg/cm might sound like a lot until you realise that the very first of the servos might be 30 cm away from the end of the arm, in which case that's only 11/30 kg of lifting force == 330 grams and i'm pretty sure it'd be more than 330 grams just for the arm itself once motors are in (the MG995 is 55g alone).
look closely at the design there and you'll see there's no gearing: those servos are direct-drive.
l.
Ooops... good point. Ouch. I guess I'd have to redo that robot design from that guy, by adding some gearing and different steppers... Hmm... But still, do we wanna have a SCARA robot or an Articulated robot?
Cheers -lev
On Monday, January 31, 2022 9:59:05 AM WET Luke Kenneth Casson Leighton wrote:
On Mon, Jan 31, 2022 at 6:38 AM David Lanzendörfer
leviathan@libresilicon.com wrote:
Hi everyone In all the designs for wafer transfer robots, I've seen so far on YouTube, they're horizontal only, with one linear actuator for changing the z-axis.
I think however, that this design here is better, because we can also use it to load wafers into machines, which don't have horizontal loading: https://www.thingiverse.com/thing:1838120
What do you think?
check the gearing, step-accuracy, and torque on the servos. TowerPro MG995 https://www.towerpro.com.tw/product/mg995/
are you happy with the possibility of the servos juddering under load, and possibly bashing the wafer against the place it's supposed to be delivering it?
11kg/cm might sound like a lot until you realise that the very first of the servos might be 30 cm away from the end of the arm, in which case that's only 11/30 kg of lifting force == 330 grams and i'm pretty sure it'd be more than 330 grams just for the arm itself once motors are in (the MG995 is 55g alone).
look closely at the design there and you'll see there's no gearing: those servos are direct-drive.
l. _______________________________________________ Libresilicon-developers mailing list Libresilicon-developers@list.libresilicon.com https://list.libresilicon.com/mailman/listinfo/libresilicon-developers
On Mon, Jan 31, 2022 at 7:39 PM David Lanzendörfer leviathan@libresilicon.com wrote:
Ooops... good point. Ouch. I guess I'd have to redo that robot design
yyep - don't underestimate how long that takes.
from that guy, by adding some gearing and different steppers... Hmm... But still, do we wanna have a SCARA robot or an Articulated robot?
i leave that to you and others, both are frickin cool as far as i'm concerned :)
l.
Ooops... good point. Ouch. I guess I'd have to redo that robot design
yyep - don't underestimate how long that takes.
I know, even when I start with an already existing design, it will take a while, until I've got all the STL files the way I need them. Back in Switzerland I've been involved in the RepRap project, and made one or two contributions to all those cheap Chinese 3D printers out there, of which one should arrive in a week or two :-)
from that guy, by adding some gearing and different steppers... Hmm... But still, do we wanna have a SCARA robot or an Articulated robot?
i leave that to you and others, both are frickin cool as far as i'm concerned :)
I'm determined to build a robot arm and it ain't my first rodeo either ;-) I think I will go for an articulated robot arm design, because it will make it easier to adapt single manual loading equipment to be used with it. Especially when we're eventually using this Bernoulli grip, Hagen is so fan of now, we can basically automatize ANYTHING... in theory at least.
Cheers -lev
On February 1, 2022 7:04:25 AM UTC, "David Lanzendörfer" leviathan@libresilicon.com wrote:
Back in Switzerland I've been involved in the RepRap project, and made one or two contributions to all those cheap Chinese 3D printers out there, of which one should arrive in a week or two :-)
my friend adam started with a cheapo USD 150 reprap design off of taobao. i helped him build it in his flat in HK, then went back to TW
6 months later, by the time he was done he had upgraded it with USD 1,000 of parts (at *china* prices), including a 2020 T-shaped Frame you could literally stand on, ball screws, a Flex3Drive, MGN12 linear rails, 24 v power for the steppers, and a 240v AC heat bed.
all done iteratively from a knock-off design that barely held together and yet he still uses the incredibly dangerous RAMPS 1.4, with fans blowing sideways under the steppers.
astounding :)
l.
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