Commit f4d3f455 authored by Ruben Castro's avatar Ruben Castro

documentation

parent 06127759
......@@ -84,10 +84,10 @@ Note all values as follows include prep and taking out parts.
- each 8 mins
- Bottom face x1
- Front facex1
- Note here, the kurf offset is on the diag web not on the slots like usual
- Note here, the kerf offset is on the diag web not on the slots like usual
- 30 mins
- Diag webs x7
- Needs to be adjusted for kurf A bit of testing
- Needs to be adjusted for kerf A bit of testing
- final carriage
- Front face
......@@ -118,7 +118,7 @@ Note all values as follows include prep and taking out parts.
## Mechanical
WARNING: Plastic deforms easily so **DO NOT OVERTIGHTEN**.
WARNING: Plastic deforms easily so **DO NOT OVERTIGHTEN**. Could also lead to cracking
......@@ -159,6 +159,9 @@ Here is a unit cell of what these beam joints look like:
Let's talk about how to assemble:
### Bed
![bed_pic](media/Cat0040_bed_frontview.jpg)
![bed_zoompic](media/Cat0040_bed-zoomed.jpg)
The bed is assembled with The HexTrompo connectors. These work as tensioners to sandwich the webs between the two large bed sheets.
1. Place all the female HexTrompos(ones with heat insert) required for the bottom sheet.
......@@ -167,13 +170,16 @@ The bed is assembled with The HexTrompo connectors. These work as tensioners to
### X - carriage
![x_carr](media/CAT0040_finalcarr-diagview.jpg)
Here you have a cool thing, where there is an extra set of bearings that help clamp onto the railing. These are the ones on the 3d printed black parts. They ride on the face of the cut and help deal with rotational moments.
Place the appropriate webs into place, and just follow the image. This one is pretty self explanatory.
Place the appropriate webs into place, and just follow the images/CAD. This one is pretty self explanatory.
### Y - carriages
![side_view](media/CAT0040_ycarr-sideview.jpg)
If you have not yet installed the rail webs, do that.
Once webs and rails are together, the whole contraption should fit nicely onto the bed. Make sure the connectors are in the right place before you go to attach it on, otherwise, you won't be able to attach it.
Once webs and rails are together, the whole contraption should fit nicely onto the bed. Make sure the connectors are in the right place before you go to attach it on, otherwise, you won't be able to attach it. Everything is tightly press fit for maximum rigidity, so you might have to hammer things in depending on the adjustment that you put on.
......@@ -190,9 +196,26 @@ Maths:
157.68 N of preload for the 0.22mm deflection on a link with width 3mm, height 5mm and depth of 6.50mm
Simple myosotis beam equation. Note this assumes the bearing are perfect, in reality, a portion of deflection will not be translated perfectly, leading to less preload force. Either way it is acceptable
## Belt tightening/clamping and pulley system
![belt_tighten](media/CAT0040_ycarr-clamping.jpg)
The belts are setup to be tightened on the motor side. There is 3d printed tensioners that push on the motor and move the motor more towards the side. The motor can rotate about one of its bolts (bottom), so as to be able to move maximum of ~1mm horizontally - enough to get enough tension after manual tensioning at the belt.
On the carriage side, there is 3d printed belt clampers which hold on to the belt and connect it on both sides. Each side is bolted down separately.
In the picture above, you also get to see the pulley side 3d printed pulley.
Here it is again:
![fulcrum_tensionser](media/CAT0040_fulcrum-desc.png)
With the pulley we want to provide that pulley support as well as belt tracking (keeping the belt aligned with center of bearings and away from rubbing on sides which leads to wear). The bottom of the middle portion is bolted down, and a bolt attached through an insert on the plate, can push up on the side - making the center portion a fulcrum allowing rotation of belt. As we can also see in picture, the belt is meant to be above the fulcrum point in order for tension to make it push up against the bolt, making it stay in position no matter how much tension is put.
#### Energy chains.
Make two of these for the Y and X axis': [link](https://gitlab.cba.mit.edu/jakeread/rctgantries/tree/master/tapeChains). These will let you wire this puppy (cat?) up with no problem.
#### Electronics
......
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