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ON Development IVS uStepper Assembly Instructions Manual

Robot arm
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uStepper -
Robot Arm
Assembly instructions
Microcontroller, stepper driver and encoder in an ultra-compact design!
By ON Development IVS
© 2016 ON Development IVS All Rights Reserved

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Summary of Contents for ON Development IVS uStepper

  • Page 1 - Robot Arm Assembly instructions Microcontroller, stepper driver and encoder in an ultra-compact design! By ON Development IVS © 2016 ON Development IVS All Rights Reserved...

  • Page 2: Assembly Notes

    The design is still a Work in Progress. Files, instructions, and other stuff might change! Attribution The nut cover design used with the uStepper Robotic Arm is made by Gyrobot, published under a CC BY-SA licen- se on December 24 2012. www.thingiverse.com/thing:39113...

  • Page 3: Specifications

    Specifications The uStepper Robot Arm has the following specifications in its standard configuration (when using uStepper Premium kits as actuators): Weight (including uSteppers) 1475 g PLA plastic and Alumi- Material num (tubes) No. of axes Maximum lift (close to base / fur-...
  • Page 4 Specifications — Range of Motion...

  • Page 5: Bill Of Materials

    1 pc. M3 nut SL 1 pc. 6 mm x 164 mm 9 pcs. M3 x 20 mm 9 pcs. M3 x 25 mm Actuators: 3 pcs. uStepper premium Nuts: 1 pc. Micro Servo 21 pcs. M3 7 pcs. M3 SL 8 pcs.
  • Page 6 Bill Of Materials 1 1 pc. Base 7 1 pc. Main joint bracket left 2 1 pc. Base gear 8 1 pc. Main joint bracket right 3 1 pc. Secondary gear 9 1 pc. Triangle 4 1 pc. Main gear 10 3 pcs.
  • Page 7 Bill Of Materials 13 1 pc. Bottom plate 19 1 pc. End bracket 14 1 pc. Left side plate 20 1 pc. Gripper gear 15 1 pc. Right side plate 21 1 pc. Gripper servo gear 16 1 pc. End triangle right 22 1 pc.
  • Page 8 Bill Of Materials 25 1 pc. M8 nut cover 31 2 pcs. M8 spacer long 26 4 pcs. M4 nut cover short 32 1 pc. M8 spacer short 27 1 pc. M4 nut cover long 28 6 pcs. M3 nut cover 29 1 pc.
  • Page 9 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.1: Fit a 608Z bearing in the base Fig.2: Assemble base 1 and base gear 2 . gear 2 using 5 M3x25 mm bolts and 5 M3 nuts. Fig.3: The base should look like this Fig.4: Fit a 608Z bearing in the bot-...
  • Page 10 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.7: Insert the M8x40 bolt in the Fig.8: Tighten the bolt ensuring a bottom plate 13 , and add a washer. smooth rotation of the bottom/base Place an M8 SL nut in the base 1 assembly.
  • Page 11 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.13: The assembly should now Fig.14: Insert an M3 nut and M3x8 look like this. mm bolt in the main motor gear 4 . Fig.15: Mount the motor gear 4 on Fig.16: Insert the M8x70 mm bolt in...
  • Page 12 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.19: Insert 2 M3 nuts in the right Fig.20: Mount the motor loosely side plate 15 . (with 4 M3x10 mm) and slide in the M8x70 mm bolt (removed from the side plate Fig.
  • Page 13 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.25: Bottom view showing the Fig.26: The Robot Arm base is now bolt heads, and access hole in the complete. bottom gear 2 . Fig.27: The 624Z bearings are Fig.28: The rod ends 10 and 11 are...
  • Page 14 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.31: Assemble the rods as shown Fig.32: Slide the short 15 mm tube here. into the main gear 4 and secure it with the bracket 5 using 2 M3x20 mm bolts and 2 M3 nuts.
  • Page 15 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.37: Mount the main joint bracket Fig.38: Add 3 624Z bearings to the 7 and 8 on the longer tube. The triangle 9 , add an M4x35 mm bolt position of the tube in the bracket is and the short M4 spacer 30 .
  • Page 16 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.43: Mount the other 169 mm link Fig.44: The arm should look like this arm from side plate to triangle and now. the 164 mm link arm as shown. Use 3 M4x20mm bolts and 3 M4 SL nuts.
  • Page 17 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.49: Next these parts are needed Fig.50: Use 4 M3x20 mm bolts and 4 20 21 22 23 24 . M3 SL nuts to assemble the parts as shown above. (Make sure the parts move freely) Fig.51: Mount the gear to the brack-...
  • Page 18 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.55: The gripper is now ready for Fig.56: Use the two longer screws mount of the micro servo. from the servo accessories bag to mount the servo. Note: You should...
  • Page 19 Assembly Follow the steps below to assemble the uStepper Robot Arm. Fig.61: Insert an M4x35 mm bolt in- Fig.62: Connect the link to the end to the link end 12 and add the long triangle 17 as shown, and tighten the M4 spacer 29 as shown.
  • Page 20 Finished Robot Arm You have now assembled the uStepper Robot Arm, and your result should be similar to what is shown on the following two pictures.
  • Page 21 Optional hard stops The uStepper Robot Arm design allows the mounting of hard stops on both the rotating axis and the secondary arm. Fig.64: An M3x10 mm bolt is insert- Fig.65: An M3x20 mm bolt and an ed in the bottom plate 13 as seen...
  • Page 22 Connections for Demo code The uStepper Robot Arm demo code on GitHub is tailored for a specific set of pin con- nections. These are shown on the following page. To communicate with the Robot Arm a Serial connection to the master is established. If doing this using the USB port, secure the USB cable so that it doesn’t break the USB port...
  • Page 23 Connections for Demo code...
  • Page 24 On the following page a suggestion on how to solder up a shield for the master uStepper is shown. This uStepper will carry the BT-module, drive the gripper servo and communicate with the two slaves. The different connections are shown with individually colored wires for easier identification.
  • Page 25 Optional Master Shield...
  • Page 26 Most stepper motor cases are made of aluminum, and care must be taken when preparing the mountings for uStepper. By using the uStepper products you acknowledge that ON Development IVS can not be held responsible for any injuries and/or damage to any 3rd party hardware that may occur when using the uStepper prod- ucts.
  • Page 27 Detailed description, design files and examples can be found on www.uStepper.com Contact ON Development IVS sales@ustepper.com © 2016 ON Development IVS All Rights Reserved...