Lots of tools used

Robot mechanical all complete, control box, and cables built. Next step firing it up. I’ll spend a bunch of time checking things ... hopefully, movement in a few days.

Stuck in the house because of Covid-19 (I don’t have it yet but Seattle is shut down). Basically done with the control box

I noticed CUI has an encoder that provides comutation signals for BLDC motors: https://www.cuidevices.com/product/motion/rotary-encoders/commutation/amt33-series

This is an interesting chip along the same lines: https://ams.com/as5048a They have lots of interesting, and rather inexpensive (relatively) prototype boards.

I got frustrated with the 3mm linear bearing rails. I could not correct them to a uniform thickness. I ordered some linear rail stock from McMaster Carr. Hopefully, that will be less frustrating.

Working on the fifth axis

Third axis and wiring for J1, J2, and J3 almost done. Waiting for some keystock before greasing and covering up the chain drive.

Current state of things:

I found it very handy to store parts in an orderly way as I do the build. These cases are nice because the storage bins are removable boxes:

OK, it is driving me nuts that this blog is rotating my pictures but provides, at least on my iPad, any means to rotate them into a reasonable orientation (as far as I can figure out). Sorry for the sloppy posts.

Using my sensitive drill press to drill the set screws:

I broached all of the gears with a little setup. The arbor press was too small so I had to improvise with some steel rods and a C-clamp:

I started printing things on a Formlabs Form 3 but it’s work volume is too small for the bigger pieces and it is kind of overkill. I did print a few things, such as the controller mounting box:

Most of the 3d printed parts were done on my Makergear 2. It did them without any issues, which was nice.

Left is cheap; right is Omron.

Top is cheap from Amazon; bottom is Omron from Mouser.