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MPSCARA: Mostly Printed SCARA Robot

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Creation quality: 5/5 (1 vote)
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  • 2mm_Spacer_V1.stl
  • 5mm_Spacer_V1.stl
  • 8mm_Coupler_By_toxnico_V1.stl
  • Baseplate_V1.2.stl
  • Bill_of_Materials_V1.pdf
  • Endstop_Clip_V1.stl
  • Forearm_V1.stl
  • Gear_V1.stl
  • Hand_V1.stl
  • Linear_Bearing_V1.1.stl
  • Lower_Upper_Arm_V1.stl
  • MPSCARA_Instructions_V1.pdf
  • Motor_Holder_and_Z_Endstop_V1.stl
  • Upper_Upper_Arm_V1.stl
  • V1.2_STL_Files.zip
    • 2mm Spacer V1.stl
    • 5-8mm Coupler By toxnico V1.stl
    • 5mm Spacer V1.stl
    • Baseplate V1.2.stl
    • Endstop Clip V1.stl
    • Forearm V1.stl
    • Gear V1.stl
    • Hand V1.stl
    • Linear Bearing V1.1.stl
    • Lower Upper Arm V1.stl
    • Motor Holder and Z Endstop V1.stl
    • Upper Upper Arm V1.stl
    • Wrist V1.stl
    • Z Carriage Bottom V1.1.stl
    • Z Carriage Bottom V1.stl
    • Z Carriage Top V1.stl
  • V1.2_Software.zip
    • Test Files/square_MPSCARA.g
    • Test Files/UW Logo.g
    • Test Files/Husky.g
    • Test Files/square.g
    • Test Files/Husky_MPSCARA.g
    • Test Files/UW Logo_MPSCARA.g
    • Gcode_Translator.py
    • How to Use Gcode_Translator.py.pdf
    • settings.txt
    • targets.txt
  • V1_Marlin.zip
    • .gitattributes
    • .github/issue_template.md
    • .gitignore
    • .travis.yml
    • buildroot/bin/build_marlin
    • buildroot/bin/build_marlin_fail
    • buildroot/bin/generate_version_header_for_marlin
    • buildroot/bin/opt_disable
    • buildroot/bin/opt_disable_adv
    • buildroot/bin/opt_enable
    • buildroot/bin/opt_enable_adv
    • buildroot/bin/opt_set
    • buildroot/bin/opt_set_adv
    • buildroot/bin/pins_set
    • buildroot/bin/restore_configs
    • buildroot/bin/use_example_configs
    • buildroot/etc/.astylerc
    • buildroot/share/cmake/CMakeLists.txt
    • buildroot/share/fonts/HD44780_C.fon
    • buildroot/share/fonts/HD44780_J.fon
    • buildroot/share/fonts/HD44780_W.fon
    • buildroot/share/fonts/ISO10646-1-tr.fon
    • buildroot/share/fonts/ISO10646-1.fon
    • buildroot/share/fonts/ISO10646-4_Greek.fon
    • buildroot/share/fonts/ISO10646-5_Cyrillic.fon
    • buildroot/share/fonts/ISO10646_CN.fon
    • buildroot/share/fonts/ISO10646_CZ.fon
    • buildroot/share/fonts/ISO10646_Kana.fon
    • buildroot/share/fonts/make_fonts.bat
    • buildroot/share/fonts/Marlin_symbols.fon
    • buildroot/share/fonts/REE.md
    • buildroot/share/git/firstpush
    • buildroot/share/git/ghtp
    • buildroot/share/git/mfadd
    • buildroot/share/git/mfclean
    • buildroot/share/git/mfdoc
    • buildroot/share/git/mfinfo
    • buildroot/share/git/mfinit
    • buildroot/share/git/mfnew
    • buildroot/share/git/mfpr
    • buildroot/share/git/mfpub
    • buildroot/share/git/mfqp
    • buildroot/share/git/mfrb
    • buildroot/share/git/mfup
    • buildroot/share/git/REE.md
    • buildroot/share/pin_interrupt_test/pin_interrupt_test.ino
    • buildroot/share/pixmaps/logo/marlin-old.svg
    • buildroot/share/pixmaps/logo/marlin.svg
    • buildroot/share/scripts/createSpeedLookupTable.py
    • buildroot/share/scripts/createTemperatureLookupMarlin.py
    • buildroot/share/scripts/findMissingTranslations.sh
    • buildroot/share/scripts/g29_auto.py
    • buildroot/share/scripts/MarlinMesh.scad
    • LICENSE
    • Marlin/blinkm.p
    • Marlin/blinkm.h
    • Marlin/boards.h
    • Marlin/buzzer.h
    • Marlin/cardreader.p
    • Marlin/cardreader.h
    • Marlin/circularqueue.h
    • Marlin/Conditionals.h
    • Marlin/Conditionals_LCD.h
    • Marlin/Conditionals_post.h
    • Marlin/Configuration.h
    • Marlin/Configuration_adv.h
    • Marlin/configuration_store.p
    • Marlin/configuration_store.h
    • Marlin/dac_m4728.p
    • Marlin/dac_m4728.h
    • Marlin/digipot_m4018.p
    • Marlin/digipot_m4451.p
    • Marlin/dogm_bitmaps.h
    • Marlin/dogm_font_data_6x9_marlin.h
    • Marlin/dogm_font_data_HD44780_C.h
    • Marlin/dogm_font_data_HD44780_J.h
    • Marlin/dogm_font_data_HD44780_W.h
    • Marlin/dogm_font_data_ISO10646_1.h
    • Marlin/dogm_font_data_ISO10646_1_PL.h
    • Marlin/dogm_font_data_ISO10646_1_tr.h
    • Marlin/dogm_font_data_ISO10646_5_Cyrillic.h
    • Marlin/dogm_font_data_ISO10646_CN.h
    • Marlin/dogm_font_data_ISO10646_CZ.h
    • Marlin/dogm_font_data_ISO10646_Greek.h
    • Marlin/dogm_font_data_ISO10646_Kana.h
    • Marlin/dogm_font_data_Marlin_symbols.h
    • Marlin/duration_t.h
    • Marlin/endstops.p
    • Marlin/endstops.h
    • Marlin/endstop_interrupts.h
    • Marlin/enum.h
    • Marlin/example_configurations/adafruit/ST7565/Configuration.h
    • Marlin/example_configurations/Anet/A6/Configuration.h
    • Marlin/example_configurations/Anet/A6/Configuration_adv.h
    • Marlin/example_configurations/Anet/A8/Configuration.h
    • Marlin/example_configurations/Anet/A8/Configuration_adv.h
    • Marlin/example_configurations/Cartesio/Configuration.h
    • Marlin/example_configurations/Cartesio/Configuration_adv.h
    • Marlin/example_configurations/Cartesio/_Bootscreen.h
    • Marlin/example_configurations/CL-260/Configuration.h
    • Marlin/example_configurations/CL-260/REE.txt
    • Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
    • Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration_adv.h
    • Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
    • Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration_adv.h
    • Marlin/example_configurations/delta/generic/Configuration.h
    • Marlin/example_configurations/delta/generic/Configuration_adv.h
    • Marlin/example_configurations/delta/kossel_mini/Configuration.h
    • Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
    • Marlin/example_configurations/delta/kossel_pro/Configuration.h
    • Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
    • Marlin/example_configurations/delta/kossel_pro/REE.md
    • Marlin/example_configurations/delta/kossel_xl/Configuration.h
    • Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
    • Marlin/example_configurations/delta/kossel_xl/REE.md
    • Marlin/example_configurations/Felix/Configuration.h
    • Marlin/example_configurations/Felix/Configuration_adv.h
    • Marlin/example_configurations/Felix/DUAL/Configuration.h
    • Marlin/example_configurations/Felix/REE.md
    • Marlin/example_configurations/FolgerTech-i3-2020/Configuration.h
    • Marlin/example_configurations/FolgerTech-i3-2020/Configuration_adv.h
    • Marlin/example_configurations/gCreate_gMax1.5+/Configuration.h
    • Marlin/example_configurations/gCreate_gMax1.5+/Configuration_adv.h
    • Marlin/example_configurations/gCreate_gMax1.5+/_Bootscreen.h
    • Marlin/example_configurations/Hephestos/Configuration.h
    • Marlin/example_configurations/Hephestos/Configuration_adv.h
    • Marlin/example_configurations/Hephestos_2/Configuration.h
    • Marlin/example_configurations/Hephestos_2/Configuration_adv.h
    • Marlin/example_configurations/Hephestos_2/REE.md
    • Marlin/example_configurations/Hephestos_2/_Bootscreen.h
    • Marlin/example_configurations/Infitary-i3-M508/Configuration.h
    • Marlin/example_configurations/Infitary-i3-M508/Configuration_adv.h
    • Marlin/example_configurations/K8200/Configuration.h
    • Marlin/example_configurations/K8200/Configuration_adv.h
    • Marlin/example_configurations/K8200/REE.md
    • Marlin/example_configurations/K8400/Configuration.h
    • Marlin/example_configurations/K8400/Configuration_adv.h
    • Marlin/example_configurations/K8400/Dual-head/Configuration.h
    • Marlin/example_configurations/K8400/REE.md
    • Marlin/example_configurations/M150/Configuration.h
    • Marlin/example_configurations/M150/Configuration_adv.h
    • Marlin/example_configurations/M150/REE.md
    • Marlin/example_configurations/M150/_Bootscreen.h
    • Marlin/example_configurations/makibox/Configuration.h
    • Marlin/example_configurations/makibox/Configuration_adv.h
    • Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
    • Marlin/example_configurations/RigidBot/Configuration.h
    • Marlin/example_configurations/RigidBot/Configuration_adv.h
    • Marlin/example_configurations/SCARA/Configuration.h
    • Marlin/example_configurations/SCARA/Configuration_adv.h
    • Marlin/example_configurations/TAZ4/Configuration.h
    • Marlin/example_configurations/TAZ4/Configuration_adv.h
    • Marlin/example_configurations/TinyBoy2/Configuration.h
    • Marlin/example_configurations/TinyBoy2/Configuration_adv.h
    • Marlin/example_configurations/tvrrug/Round2/Configuration.h
    • Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
    • Marlin/example_configurations/WITBOX/Configuration.h
    • Marlin/example_configurations/WITBOX/Configuration_adv.h
    • Marlin/example_configurations/wt150/Configuration.h
    • Marlin/example_configurations/wt150/Configuration_adv.h
    • Marlin/fastio.h
    • Marlin/fastio_1280.h
    • Marlin/fastio_1281.h
    • Marlin/fastio_168.h
    • Marlin/fastio_644.h
    • Marlin/fastio_AT90USB.h
    • Marlin/G26_Mesh_Validation_Tool.p
    • Marlin/gcode.p
    • Marlin/gcode.h
    • Marlin/hex_print_routines.p
    • Marlin/hex_print_routines.h
    • Marlin/I2ositionEncoder.p
    • Marlin/I2ositionEncoder.h
    • Marlin/language.h
    • Marlin/language_an.h
    • Marlin/language_bg.h
    • Marlin/language_ca.h
    • Marlin/language_cn.h
    • Marlin/language_cz.h
    • Marlin/language_cz_utf8.h
    • Marlin/language_da.h
    • Marlin/language_de.h
    • Marlin/language_el-gr.h
    • Marlin/language_el.h
    • Marlin/language_en.h
    • Marlin/language_es.h
    • Marlin/language_eu.h
    • Marlin/language_fi.h
    • Marlin/language_fr.h
    • Marlin/language_gl.h
    • Marlin/language_hr.h
    • Marlin/language_it.h
    • Marlin/language_kana.h
    • Marlin/language_kana_utf8.h
    • Marlin/language_nl.h
    • Marlin/language_pl-DOGM.h
    • Marlin/language_pl-HD44780.h
    • Marlin/language_pl.h
    • Marlin/language_pt-br.h
    • Marlin/language_pt-br_utf8.h
    • Marlin/language_pt.h
    • Marlin/language_pt_utf8.h
    • Marlin/language_ru.h
    • Marlin/language_test.h
    • Marlin/language_tr.h
    • Marlin/language_uk.h
    • Marlin/language_zh_CN.h
    • Marlin/language_zh_TW.h
    • Marlin/least_squares_fit.p
    • Marlin/least_squares_fit.h
    • Marlin/M100_Free_Mem_Chk.p
    • Marlin/macros.h
    • Marlin/Makefile
    • Marlin/Marlin.h
    • Marlin/Marlin.ino
    • Marlin/MarlinConfig.h
    • Marlin/MarlinSerial.p
    • Marlin/MarlinSerial.h
    • Marlin/Marlin_main.p
    • Marlin/mesh_bed_leveling.p
    • Marlin/mesh_bed_leveling.h
    • Marlin/nozzle.p
    • Marlin/nozzle.h
    • Marlin/pca9632.p
    • Marlin/pca9632.h
    • Marlin/pins.h
    • Marlin/pinsDebug.h
    • Marlin/pinsDebug_list.h
    • Marlin/pinsDebug_plus_70.h
    • Marlin/pinsDebug_Teensyduino.h
    • Marlin/pins_3DRAG.h
    • Marlin/pins_5DPRINT.h
    • Marlin/pins_ANET_10.h
    • Marlin/pins_AZTEEG_X1.h
    • Marlin/pins_AZTEEG_X3.h
    • Marlin/pins_AZTEEG_X3_PRO.h
    • Marlin/pins_BAM_DICE_DUE.h
    • Marlin/pins_BQ_ZUM_MEGA_3D.h
    • Marlin/pins_BRAINWAVE.h
    • Marlin/pins_BRAINWAVE_PRO.h
    • Marlin/pins_CHEAPTRONIC.h
    • Marlin/pins_CHEAPTRONICv2.h
    • Marlin/pins_CNCONTROLS_11.h
    • Marlin/pins_CNCONTROLS_12.h
    • Marlin/pins_ELEFU_3.h
    • Marlin/pins_FELIX2.h
    • Marlin/pins_GEN3_MONOLITHIC.h
    • Marlin/pins_GEN3_PLUS.h
    • Marlin/pins_GEN6.h
    • Marlin/pins_GEN6_DELUXE.h
    • Marlin/pins_GEN7_12.h
    • Marlin/pins_GEN7_13.h
    • Marlin/pins_GEN7_14.h
    • Marlin/pins_GEN7_CUSTOM.h
    • Marlin/pins_K8200.h
    • Marlin/pins_K8400.h
    • Marlin/pins_LEAPFROG.h
    • Marlin/pins_MEGACONTROLLER.h
    • Marlin/pins_MEGATRONICS.h
    • Marlin/pins_MEGATRONICS_2.h
    • Marlin/pins_MEGATRONICS_3.h
    • Marlin/pins_MELZI.h
    • Marlin/pins_MELZI_MAKR3D.h
    • Marlin/pins_MIGHTYBOARD_REVE.h
    • Marlin/pins_MINIRAMBO.h
    • Marlin/pins_MINITRONICS.h
    • Marlin/pins_MKS_13.h
    • Marlin/pins_MKS_BASE.h
    • Marlin/pins_OMCA.h
    • Marlin/pins_OMCA_A.h
    • Marlin/pins_PRINTRBOARD.h
    • Marlin/pins_PRINTRBOARD_REVF.h
    • Marlin/pins_RAMBO.h
    • Marlin/pins_RAMPS.h
    • Marlin/pins_RAMPS_13.h
    • Marlin/pins_RAMPS_OLD.h
    • Marlin/pins_RIGIDBOARD.h
    • Marlin/pins_RIGIDBOARD_V2.h
    • Marlin/pins_RUMBA.h
    • Marlin/pins_SAINSMART_2IN1.h
    • Marlin/pins_SANGUINOLOLU_11.h
    • Marlin/pins_SANGUINOLOLU_12.h
    • Marlin/pins_SAV_MKI.h
    • Marlin/pins_SCOOVO_X9H.h
    • Marlin/pins_SETHI.h
    • Marlin/pins_STB_11.h
    • Marlin/pins_TEENSY2.h
    • Marlin/pins_TEENSYLU.h
    • Marlin/pins_ULTIMAIN_2.h
    • Marlin/pins_ULTIMAKER.h
    • Marlin/pins_ULTIMAKER_OLD.h
    • Marlin/pins_ZRIB_V20.h
    • Marlin/planner.p
    • Marlin/planner.h
    • Marlin/planner_bezier.p
    • Marlin/planner_bezier.h
    • Marlin/point_t.h
    • Marlin/printcounter.p
    • Marlin/printcounter.h
    • Marlin/qr_solve.p
    • Marlin/qr_solve.h
    • Marlin/SanityCheck.h
    • Marlin/Sd2Card.p
    • Marlin/Sd2Card.h
    • Marlin/SdBaseFile.p
    • Marlin/SdBaseFile.h
    • Marlin/SdFatConfig.h
    • Marlin/SdFatStructs.h
    • Marlin/SdFatUtil.p
    • Marlin/SdFatUtil.h
    • Marlin/SdFile.p
    • Marlin/SdFile.h
    • Marlin/SdInfo.h
    • Marlin/SdVolume.p
    • Marlin/SdVolume.h
    • Marlin/serial.p
    • Marlin/serial.h
    • Marlin/servo.p
    • Marlin/servo.h
    • Marlin/softspi.h
    • Marlin/speed_lookuptable.h
    • Marlin/spi.h
    • Marlin/stepper.p
    • Marlin/stepper.h
    • Marlin/stepper_dac.p
    • Marlin/stepper_dac.h
    • Marlin/stepper_indirection.p
    • Marlin/stepper_indirection.h
    • Marlin/stopwatch.p
    • Marlin/stopwatch.h
    • Marlin/temperature.p
    • Marlin/temperature.h
    • Marlin/thermistornames.h
    • Marlin/thermistortables.h
    • Marlin/thermistortable_1.h
    • Marlin/thermistortable_10.h
    • Marlin/thermistortable_1010.h
    • Marlin/thermistortable_1047.h
    • Marlin/thermistortable_11.h
    • Marlin/thermistortable_110.h
    • Marlin/thermistortable_12.h
    • Marlin/thermistortable_13.h
    • Marlin/thermistortable_147.h
    • Marlin/thermistortable_2.h
    • Marlin/thermistortable_20.h
    • Marlin/thermistortable_3.h
    • Marlin/thermistortable_4.h
    • Marlin/thermistortable_5.h
    • Marlin/thermistortable_51.h
    • Marlin/thermistortable_52.h
    • Marlin/thermistortable_55.h
    • Marlin/thermistortable_6.h
    • Marlin/thermistortable_60.h
    • Marlin/thermistortable_66.h
    • Marlin/thermistortable_7.h
    • Marlin/thermistortable_70.h
    • Marlin/thermistortable_71.h
    • Marlin/thermistortable_75.h
    • Marlin/thermistortable_8.h
    • Marlin/thermistortable_9.h
    • Marlin/thermistortable_998.h
    • Marlin/thermistortable_999.h
    • Marlin/twibus.p
    • Marlin/twibus.h
    • Marlin/types.h
    • Marlin/ubl.p
    • Marlin/ubl.h
    • Marlin/ubl_G29.p
    • Marlin/ubl_motion.p
    • Marlin/ultralcd.p
    • Marlin/ultralcd.h
    • Marlin/ultralcd_impl_DOGM.h
    • Marlin/ultralcd_impl_HD44780.h
    • Marlin/ultralcd_st7920_u8glib_rrd.h
    • Marlin/utf_mapper.h
    • Marlin/utility.p
    • Marlin/utility.h
    • Marlin/vector_3.p
    • Marlin/vector_3.h
    • Marlin/Version.h
    • Marlin/watchdog.p
    • Marlin/watchdog.h
    • platformio.ini
    • REE.md
  • Wrist_V1.stl
  • Z_Carriage_Bottom_V1.1.stl
  • Z_Carriage_Bottom_V1.stl
  • Z_Carriage_Top_V1.stl

Learn more about the formats
Publication date 2023-11-14 at 09:09
?
Published to Thingiverse on: 2017-09-23 at 00:37
Design number 1577444
tjwill

tjwill

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3D printer file info

3D model description

Introducing the MPSCARA!

UPDATE: This project is no longer being ed. A more-evolved version of this concept with a more active 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, 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 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.

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3D printing & accessories

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