Commit 945c4905 authored by Jake Read's avatar Jake Read

big shuffle

parent 33ed887f
......@@ -4,6 +4,7 @@ These are machine design elements that we use at the CBA when we're spinning up
## Machines Using RCT Gantries
[Little Rascal](https://gitlab.cba.mit.edu/jakeread/littlerascal)
[Mother Mother, a generalist](https://gitlab.cba.mit.edu/jakeread/mothermother)
[Claystack, a ceramics 3d printer](https://gitlab.cba.mit.edu/jakeread/claystack)
[the Madison Park Vocational Machine, for high schools](https://gitlab.cba.mit.edu/jakeread/mpvmachine)
......@@ -34,169 +35,8 @@ Make sure to change 'type' to .step, and check the 'save to my computer' box. No
**Alternately,** you can save the changes to a new file and import that model into another Fusion 360 Assembly.
## Gantry for NEMA17 Motor, 0.25" ALU
## [N17 Linear and Pinion-Type Belt](n17_linearPinion/)
![n17sofar](images/n17-assem.jpg)
## [N17 Linear and Pulley-Type Belt](n17_linearPulley/)
Smaller Gantries. Uses 45* bearings in 3DP blocks, with one set riding on flexures for smooth preloaded motion. Cut rail on WJ with high cut quality.
![n17sofar](images/n17-with-n23.jpg)
Ostensibly easy to cut on a laser with 1/4" Acrylic for very-easy machine-making.
This is ready to be applied in the [Little Rascal](http://gitlab.cba.mit.edu/jakeread/littlerascal) [(see also)](https://en.wikipedia.org/wiki/List_of_spacecraft_in_the_Culture_series) project. My last thoughts are:
- could abandond servo-belt type, not enough motor torque to overcome friction at this size. re-up on that for N23, with steel belts, for milling and other higher force applications.
- in abandoning this, belt tensioning becomes easy: make simple, small stops and apply tension at the motor. become smaller.
- I would be interested in a motor-hanging-from-end-of-plate flying belt type at this size, for very fast applications (lasers).
- motor plate could come inside, to bring pulley closer to motor bearings ... take freedom to push tensioning screw against motor cage, not screws.
- while heat-setting M4 inserts in for the rollers, (1) there isn't *really* enough space to get the soldering iron in (without melting the adjacent pla) and (2) it's difficult to guarantee these go in straight. maybe use a press-in insert? / a hex nut ?
- pulley version needs lots of revisions
- motor mount should have flush-type inset like pinion motor mount
- upside-down pulley mount ... and tack-on belt clamp, need formalization and improvement. to keep the minimum width where it is, you can mount 'down the middle' and use the space on the sides for the plastic thread-forming screw
### BOM for N17
Type | Size | QTY | Where Used | Vendor | PN
--- | --- | --- | --- | --- | ---
Flat Head Thread-Forming | No. 6, 1/2" | 12 | - | McMaster | 95893A255
Flat Head Thread-Forming | No. 6, 3/4" | 8 | - | McMaster | 95893A258
Bearing Shims | 5x10x0.5mm | 22 | - | McMaster | 98089A331
Shoulder Bolts | 5x10xM4 | 2 | Pulleys | McMaster | 92981A030
Shoulder Bolts | 5x6xM4 | 8 | Rollers | McMaster | 92981A146
Heat-Set M4 Tapered Inserts | M4 | 10 | - | McMaster | 94180A351
Heat-Set M3 Tapered Insert | M3 | 5 | - | McMaster | 94180A331
M3 SHCS | 10mm Long | 4 | Motor Mounting | McMaster | 91292A113
M3 SHCS | 14mm Long | 5 | Tensioning and Tuning | McMaster | 91292A027
M3 Washers | - | 9 | Screws without Washers are Sad Screws | McMaster | 93475A210
M4 SHCS | 20mm Long | 4 | Belt Mounting | McMaster | 91292A121
M4 Washers | - | 4 | ibid | McMaster | 93475A230
625ZZ Bearings | 5x16x5mm | 12 | - | VXB | [link](https://www.vxb.com/20-625ZZ-Shielded-5mm-Bore-Diameter-Miniature-p/625zz20.htm) or McMaster 6153K113
20T or 16T GT2 Pulley | 10mm or Wider, 5mm Bore | 1 | - | Amazon or SDP/SI | [Amazon Link](https://www.amazon.com/uxcell-Aluminum-Timing-Synchronous-Printer/dp/B072M2CM1W/)
10mm (or 9mm) Wide GT2 Belt | Find Steel-Core for Stiffness! | 1 | - | Amazon or SDP/SI | [Amazon Link](https://www.amazon.com/BALITENSEN-Black-Timing-Printer-Machine/dp/B07F2X236H/)
### Materials for N17
1/4" Acrylic from McMaster, for 12x24" for small lasers pick 8505K755
## HQ Wire Bundling
Trying this with Heat Shrinks
- -> 1" 3M161381-ND
- -> 0.75" 3M161354-ND
- -> 0.5" A100C-4-ND
- -> 0.375" A034C-4-ND
- -> 3/8" ID Sleeve 2837K13
- -> 1/2" 2837K32
- -> 3/4" 2837K33
- -> 1" 2837K34
- Stanley Model 33-116, 6802A36 (3/4" width)
- Stanley Model 33-716, 6817A1 (1 1/4" width)
## Gantry for NEMA23 Motor, 0.375" HDPE
![RCTN23-0375HDPE](images/RCTN23-hdpe-img.jpg)
![RCTN23-0375HDPE](images/RCTN23-hdpe-dwg.png)
#### [RCTN23-0375HDPE Fusion CAD File](cad/RCTN23-0375HDPE_v5.f3d)
#### [pulleys-that-are-the-wrong-size-hotfix](cad/nema23-8mm-to-6-35mm-bushing.stl)
#### BOM N23 0375HDPE
Type | Size | QTY | Where Used | McMaster PN
--- | --- | --- | --- | ---
Button Head Thread-Forming | No. 6, 3/4" | 10 + (4 * rail tab) (lots) | Connecting Lap and Tab HDPE, Belt Blocks, Chassis | 99512A265
Button Head Thread-Forming | No. 6, 1/2" | 2 | Belt Blocks | 99512A259
Flat Head Thread-Forming | No. 6, 3/4" | 8 | Flush Mounting HDPE | 95893A258
SHCS | M3x40 | 2 | Used *only* when pre-loading bearing rollers | 91292A024
SHCS | M3x30 | 2 | Used *only* when pre-loading bearing rollers | 91292A022
Belleville Washer | 3.1mm ID | 24 | Used *only* when pre-loading bearing rollers | 96445K157
Locknut | M3, Nylon | 6 | Used *only* when pre-loading bearing rollers | 90576A102
Locknut | M5, Nylon | 4 | Connecting Nema 23 Motor | 93625A200
SHCS | M5x10 | 1 | Connecting Nema 23 Motor | 91292A124
SHCS | M5x16 | 3 | Nema 23 Motor through tensioning arcs | 91292A126
Shoulder Screw | 8mm Shoulder x 8mm x M6 | 10 | Guide Roller Shaft | 92981A198
Shoulder Screw | 8mm Shoulder x 16mm x M6 | 2 | Belt Guide Roller Shaft | 92981A202
Bearing Shim | 8mm ID x 10mm OD x 1mm Thick | 38 | Roller Separation | 98089A381
Less Expensive Bearing Shim | 5/16" Screw Oversize Washer | 38 | Roller Separation | 91090A110
## Gantry for NEMA23 Motor, 0.25" Aluminum
![RCTN23-025ALU](images/RCTN23-alu-img.jpg)
![RCTN23-025ALU](images/RCTN23-alu-dwg.png)
### Going Notes
- aluminum flexures are no good, plastically deform over time
- look for a solution using spring steel, with known preload ahead of time... i.e. no adjustment, just good steel fixturing
#### [RCTN23-025ALU Fusion CAD File](cad/RCTN23-025ALU_v51.f3d)
#### BOM N23 025ALU
Type | Size | QTY | Where Used | McMaster PN
--- | --- | --- | --- | ---
SHCS | M3x12 | 8 | Connecting Lap and Tab Aluminum, and Belt Blocks |
FHCS | M3x12 | 8 | Nice option for flush-mounting things |
SHCS | M3x35 | 2 | Used *only* when pre-loading bearing rollers | 91292A033
SHCS | M3x45 | 2 | Used *only* when pre-loading bearing rollers | 91292A025
Belleville Washer | 3.1mm ID | 12 | Used *only* when pre-loading bearing rollers | 96445K157
Locknut | M3, Nylon | 2 | Used *only* when pre-loading bearing rollers | 90576A102
Locknut | M5, Nylon | 4 | Connecting Nema 23 Motor | 93625A200
SHCS | M5x10 | 1 | Connecting Nema 23 Motor |
SHCS | M5x16 | 3 | Nema 23 Motor through arcs |
Shoulder Screw | 8mm Shoulder x 8mm x M6 | 10 | Guide Roller Shaft | 92981A198
Shoulder Screw | 8mm Shoulder x 16mm x M6 | 2 | Belt Guide Roller Shaft | 92981A202
### N23 / 0.25" ALU Parts
What | Spec | QTY | Where Used | Link
--- | --- | --- | --- | ---
608ZZ Bearings | 8x22x7 | 14 | Rollers | [VXB 10](https://www.vxb.com/608ZZ-Shielded-8x22x7-Miniature-Bearing-Pack-of-10-p/608zz10.htm), [VXB 1000](https://www.vxb.com/Wholesale-Lot-of-1000-608ZZ-Ball-Bearing-p/608zz-wholesale.htm)
GT2 Belt | 10mm Wide, Length Dependent | 2 | Belt! | [Amazon](https://www.amazon.com/Timing-Pulley-Teeth-6-35mm-Printer/dp/B07BS4DVR5/)
GT2 Pulley | 10mm Wide, Motor Bore Diameter | 1 | Transmission! | [Above, Combo](https://www.amazon.com/Timing-Pulley-Teeth-6-35mm-Printer/dp/B07BS4DVR5/)
Of course, you'll also need material. In this case, just 0.25" aluminum. I use 6061.
### N23 / 0.25" ALU Tools
A list of the (perhaps) specialty tools you'll want to have to make this gantry:
Tool | Where Used | McMaster PN or Link
--- | --- | ---
M3 Tap | Extensively |
M5 Tap | Extensively |
M6 Tap | Shoulder Bolts |
Countersink Bit | Flush Mounting |
## 90 Degree Block for 1/4" Aluminum
![RCTBLK-90-025ALU](images/RCTBLK-90-025ALU.png)
[RCTBLK-90-025ALU Fusion CAD File](cad/RCTBLK-90-025ALU_v6.f3d)
![](video/SEQ-rct-add-blk-enc.mp4)
## Shared Purchase Parts
What | Spec | QTY | Where Used | Link
--- | --- | --- | --- | ---
608ZZ Bearings | 8x22x7 | 14 | Rollers | [VXB 10](https://www.vxb.com/608ZZ-Shielded-8x22x7-Miniature-Bearing-Pack-of-10-p/608zz10.htm), [VXB 1000](https://www.vxb.com/Wholesale-Lot-of-1000-608ZZ-Ball-Bearing-p/608zz-wholesale.htm)
GT2 Belt | 10mm Wide, Length Dependent | 2 | Belt! | [Amazon](https://www.amazon.com/Timing-Pulley-Teeth-6-35mm-Printer/dp/B07BS4DVR5/)
GT2 Pulley | 10mm Wide, Motor Bore Diameter | 1 | Transmission! | [Above, Combo](https://www.amazon.com/Timing-Pulley-Teeth-6-35mm-Printer/dp/B07BS4DVR5/)
Stepper Motor | NEMA23 x52mm | 1 | Torque ! | [StepperOnline](https://www.omc-stepperonline.com/hybrid-stepper-motor/nema-23-bipolar-18deg-09-nm-1275ozin-2a-36v-57x57x52mm-4-wires-23hs20-2004s.html)
Stepper Motor | NEMA23 x76mm | -or | Torque ! | [StepperOnline](https://www.omc-stepperonline.com/hybrid-stepper-motor/nema-23-bipolar-18deg-19nm-269ozin-28a-32v-57x57x76mm-4-wires-23hs30-2804s.html)
# REF
Find [Open Assemblies Hardware Reference](https://github.com/jakeread/openassemblies/blob/master/hardware.md) for shorthands etc.
# Jake's Notes
- gantries still want fully described end conditions / mounts
- belt tensioning / assembly video
- working examples on video
\ No newline at end of file
## [N23 Linear and Pinion-Type Belt](n23_linearPinion/)
\ No newline at end of file
aspirational / stub page for inter-axis mounting kit
## 90 Degree Block for 1/4" Aluminum
![RCTBLK-90-025ALU](images/RCTBLK-90-025ALU.png)
[RCTBLK-90-025ALU Fusion CAD File](cad/RCTBLK-90-025ALU_v6.f3d)
![](video/SEQ-rct-add-blk-enc.mp4)
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## Gantry for NEMA17 Motor, 0.25" Stock, Pinion-Type Belt
**STATUS:** up to date, works well, feels good, not measured for stiffness or straightness etc.
**USED IN:** [Little Rascal](http://gitlab.cba.mit.edu/jakeread/littlerascal)
![n17sofar](n17-assem.jpg)
Smaller Gantries. Uses 45* bearings in 3DP blocks, with one set riding on flexures for smooth preloaded motion. Cut aluminum or steel rail on WJ with high cut quality, or cut acrylic on laser. 0.25" or similar (6.35mm) stock assumed.
### Development Notes ...
- while heat-setting M4 inserts in for the rollers, (1) there isn't *really* enough space to get the soldering iron in (without melting the adjacent pla) and (2) it's difficult to guarantee these go in straight. maybe use a press-in insert? / a hex nut ?
- long runs (beams) are not stiff ... try 1/8" waterjet stiffening folded members
### BOM for N17
Type | Size | QTY | Where Used | Vendor | PN
--- | --- | --- | --- | --- | ---
Flat Head Thread-Forming | No. 6, 1/2" | 12 | - | McMaster | 95893A255
Flat Head Thread-Forming | No. 6, 3/4" | 8 | - | McMaster | 95893A258
Bearing Shims | 5x10x0.5mm | 22 | - | McMaster | 98089A331
Shoulder Bolts | 5x10xM4 | 2 | Pulleys | McMaster | 92981A030
Shoulder Bolts | 5x6xM4 | 8 | Rollers | McMaster | 92981A146
Heat-Set M4 Tapered Inserts | M4 | 10 | - | McMaster | 94180A351
Heat-Set M3 Tapered Insert | M3 | 5 | - | McMaster | 94180A331
M3 SHCS | 10mm Long | 4 | Motor Mounting | McMaster | 91292A113
M3 SHCS | 14mm Long | 5 | Tensioning and Tuning | McMaster | 91292A027
M3 Washers | - | 9 | Screws without Washers are Sad Screws | McMaster | 93475A210
M4 SHCS | 20mm Long | 4 | Belt Mounting | McMaster | 91292A121
M4 Washers | - | 4 | ibid | McMaster | 93475A230
625ZZ Bearings | 5x16x5mm | 12 | - | VXB | [link](https://www.vxb.com/20-625ZZ-Shielded-5mm-Bore-Diameter-Miniature-p/625zz20.htm) or McMaster 6153K113
20T or 16T GT2 Pulley | 10mm or Wider, 5mm Bore | 1 | - | Amazon or SDP/SI | [Amazon Link](https://www.amazon.com/uxcell-Aluminum-Timing-Synchronous-Printer/dp/B072M2CM1W/)
10mm (or 9mm) Wide GT2 Belt | Find Steel-Core for Stiffness! | 1 | - | Amazon or SDP/SI | [Amazon Link](https://www.amazon.com/BALITENSEN-Black-Timing-Printer-Machine/dp/B07F2X236H/)
### Materials for N17
1/4" Acrylic from McMaster, for 12x24" for small lasers pick 8505K755
\ No newline at end of file
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## Gantry for NEMA17 Motor, 0.25" Stock, Pinion-Type Belt
**STATUS:** mistakes abound, works but assembly and belt-tensioning are not wonderful.
**USED IN:** [Little Rascal](http://gitlab.cba.mit.edu/jakeread/littlerascal)
![n17sofar](n17pulley.jpg)
Smaller Gantries. Uses 45* bearings in 3DP blocks, with one set riding on flexures for smooth preloaded motion. Cut aluminum or steel rail on WJ with high cut quality, or cut acrylic on laser. 0.25" or similar (6.35mm) stock assumed.
![n17sofar](images/n17-with-n23.jpg)
### Development Notes ...
- motor mount should have flush-type inset like pinion motor mount
- upside-down pulley mount ... and tack-on belt clamp, need formalization and improvement. to keep the minimum width where it is, you can mount 'down the middle' and use the space on the sides for the plastic thread-forming screw
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This diff is collapsed.
## Gantry for NEMA23 Motor, 0.25" Stock, Pinion-Type Belt
**STATUS:** Works, be careful with Aluminum Flexural elements: size them proplerly. Machines subject to big loades see these deform through their plastic regime, leaving axis loose.
**USED IN:** [Mother Mother](http://gitlab.cba.mit.edu/jakeread/mothermother)
![N23](RCTN23-alu-img.jpg)
Big(ish) Gantries. Uses 3 bearings per corner, with one set riding on flexures for smooth preloaded motion. Cut aluminum or steel rail on WJ with high cut quality, or cut acrylic on laser. 0.25" or similar (6.35mm) stock assumed.
### Development Notes ...
- meshed belts redux ?
- to rethink flexures, try captured spring steel sheets? do load calcs, comparing to linear rail, for stiffness and permissible linear loads, draw parameter space charts
- new flexures: no adjustment, just known preload
### N23 / 0.25" ALU Tools
A list of the (perhaps) specialty tools you'll want to have to make this gantry:
Tool | Where Used | McMaster PN or Link
--- | --- | ---
M3 Tap | Extensively | -
M5 Tap | Extensively | -
M6 Tap | Shoulder Bolts | -
Countersink Bit | Flush Mounting | -
#### BOM N23 0375HDPE
Type | Size | QTY | Where Used | McMaster PN
--- | --- | --- | --- | ---
Button Head Thread-Forming | No. 6, 3/4" | 10 + (4 * rail tab) (lots) | Connecting Lap and Tab HDPE, Belt Blocks, Chassis | 99512A265
Button Head Thread-Forming | No. 6, 1/2" | 2 | Belt Blocks | 99512A259
Flat Head Thread-Forming | No. 6, 3/4" | 8 | Flush Mounting HDPE | 95893A258
SHCS | M3x40 | 2 | Used *only* when pre-loading bearing rollers | 91292A024
SHCS | M3x30 | 2 | Used *only* when pre-loading bearing rollers | 91292A022
Belleville Washer | 3.1mm ID | 24 | Used *only* when pre-loading bearing rollers | 96445K157
Locknut | M3, Nylon | 6 | Used *only* when pre-loading bearing rollers | 90576A102
Locknut | M5, Nylon | 4 | Connecting Nema 23 Motor | 93625A200
SHCS | M5x10 | 1 | Connecting Nema 23 Motor | 91292A124
SHCS | M5x16 | 3 | Nema 23 Motor through tensioning arcs | 91292A126
Shoulder Screw | 8mm Shoulder x 8mm x M6 | 10 | Guide Roller Shaft | 92981A198
Shoulder Screw | 8mm Shoulder x 16mm x M6 | 2 | Belt Guide Roller Shaft | 92981A202
Bearing Shim | 8mm ID x 10mm OD x 1mm Thick | 38 | Roller Separation | 98089A381
Less Expensive Bearing Shim | 5/16" Screw Oversize Washer | 38 | Roller Separation | 91090A110
#### BOM N23 025ALU
Type | Size | QTY | Where Used | McMaster PN
--- | --- | --- | --- | ---
SHCS | M3x12 | 8 | Connecting Lap and Tab Aluminum, and Belt Blocks |
FHCS | M3x12 | 8 | Nice option for flush-mounting things |
SHCS | M3x35 | 2 | Used *only* when pre-loading bearing rollers | 91292A033
SHCS | M3x45 | 2 | Used *only* when pre-loading bearing rollers | 91292A025
Belleville Washer | 3.1mm ID | 12 | Used *only* when pre-loading bearing rollers | 96445K157
Locknut | M3, Nylon | 2 | Used *only* when pre-loading bearing rollers | 90576A102
Locknut | M5, Nylon | 4 | Connecting Nema 23 Motor | 93625A200
SHCS | M5x10 | 1 | Connecting Nema 23 Motor |
SHCS | M5x16 | 3 | Nema 23 Motor through arcs |
Shoulder Screw | 8mm Shoulder x 8mm x M6 | 10 | Guide Roller Shaft | 92981A198
Shoulder Screw | 8mm Shoulder x 16mm x M6 | 2 | Belt Guide Roller Shaft | 92981A202
### N23 / 0.25" ALU Parts
What | Spec | QTY | Where Used | Link
--- | --- | --- | --- | ---
608ZZ Bearings | 8x22x7 | 14 | Rollers | [VXB 10](https://www.vxb.com/608ZZ-Shielded-8x22x7-Miniature-Bearing-Pack-of-10-p/608zz10.htm), [VXB 1000](https://www.vxb.com/Wholesale-Lot-of-1000-608ZZ-Ball-Bearing-p/608zz-wholesale.htm)
GT2 Belt | 10mm Wide, Length Dependent | 2 | Belt! | [Amazon](https://www.amazon.com/Timing-Pulley-Teeth-6-35mm-Printer/dp/B07BS4DVR5/)
GT2 Pulley | 10mm Wide, Motor Bore Diameter | 1 | Transmission! | [Above, Combo](https://www.amazon.com/Timing-Pulley-Teeth-6-35mm-Printer/dp/B07BS4DVR5/)
Of course, you'll also need material. In this case, just 0.25" aluminum. I use 6061.
## Shared Purchase Parts
What | Spec | QTY | Where Used | Link
--- | --- | --- | --- | ---
608ZZ Bearings | 8x22x7 | 14 | Rollers | [VXB 10](https://www.vxb.com/608ZZ-Shielded-8x22x7-Miniature-Bearing-Pack-of-10-p/608zz10.htm), [VXB 1000](https://www.vxb.com/Wholesale-Lot-of-1000-608ZZ-Ball-Bearing-p/608zz-wholesale.htm)
GT2 Belt | 10mm Wide, Length Dependent | 2 | Belt! | [Amazon](https://www.amazon.com/Timing-Pulley-Teeth-6-35mm-Printer/dp/B07BS4DVR5/)
GT2 Pulley | 10mm Wide, Motor Bore Diameter | 1 | Transmission! | [Above, Combo](https://www.amazon.com/Timing-Pulley-Teeth-6-35mm-Printer/dp/B07BS4DVR5/)
Stepper Motor | NEMA23 x52mm | 1 | Torque ! | [StepperOnline](https://www.omc-stepperonline.com/hybrid-stepper-motor/nema-23-bipolar-18deg-09-nm-1275ozin-2a-36v-57x57x52mm-4-wires-23hs20-2004s.html)
Stepper Motor | NEMA23 x76mm | -or | Torque ! | [StepperOnline](https://www.omc-stepperonline.com/hybrid-stepper-motor/nema-23-bipolar-18deg-19nm-269ozin-28a-32v-57x57x76mm-4-wires-23hs30-2804s.html)
\ No newline at end of file
## HQ Wire Bundling
Trying this with Heat Shrinks
- -> 1" 3M161381-ND
- -> 0.75" 3M161354-ND
- -> 0.5" A100C-4-ND
- -> 0.375" A034C-4-ND
- -> 3/8" ID Sleeve 2837K13
- -> 1/2" 2837K32
- -> 3/4" 2837K33
- -> 1" 2837K34
- Stanley Model 33-116, 6802A36 (3/4" width)
- Stanley Model 33-716, 6817A1 (1 1/4" width)
![tapeChains](tapeChains-1.jpg)
![tapeChains](tapeChains-2.jpg)
\ No newline at end of file
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