Non-mechanilcal items

• 2x Stepper 17HS19-2004S1 (eBay)
• 2x 2GT Pulley 20 teeth bore 5mm belt width 6mm (AliExpress)
• 2x Belt GT2 / 2M 310 width 6mm, 310-2GT-6 (eBay)
• 1x Pin header male 2x6P (AliExpress)
• 2x Pin header female 2x6P (AliExpress)
• 0.5m self closing sleeve (AliExpress)

Hexagon socket screws

• 2x ISO7380-1 M2x8 (AliExpress)
• 2x ISO7380-1 M2x10 (AliExpress)
• 4x ISO4762 M2.5x8
• 2x ISO4762 M2.5x12
• 8x ISO4762 M3x8
• 26x ISO4762 M3x12
• 15x ISO4762 M3x14
• 2x ISO4762 M3x18
• 7x ISO4762 M3x20
• 6x ISO4762 M3x30
• 2x ISO4762 M4x28
• 1x threaded rod M6x100 (eBay)

It should be easy to get these screws, nuts and washers from a local dealer. Otherwise you can try schraubenkasten.de.

Hexagon nuts

• 2x ISO4033 M2
• 2x ISO4033 M3
• 6x ISO4033 M4
• 2x ISO10511 M6
• 4x ISO4033 M6

Washers

• 12x ISO7093 M3
• 4x ISO7093 M4
• 2x ISO7091 M6
• 10x ISO7092 M6
• 1x ISO7093 M6

Ball Bearings

• 2x 6806-2RS (AliExpress)
• 16x F686ZZ (eBay)
• 4x F688ZZ (eBay)

Tools used

• 3.0x75 - M4 screws
• 2.5x75 - M3 screws
• 2.5x100 - M3 screws (ball head!)
• 2.0 - M2.5 screws
• 1.5 - M2 screws
• 1.3 - M2 screws

These hexagon screwdrivers make it easier to build the robot arm.

Assemble the arm

3D printed parts:

• 1x arm-left
• 1x arm-right
• 2x arm-spacer-top
• 1x arm-spacer-middle
• 1x arm-spacer-bottom

Insert the 2 F688ZZ bearings as shown on the picture and fix the parts using 15 ISO4762 M3x14 screws.

3D parts used:

• 1x base
• 2x fixring-large

Insert the 2 6806-2RS and the 2 F686ZZ bearings into the base as shown in the picture. Then fix the 2 fixring-large parts using 12 ISO4762 M3x12 screws.

3D parts used:

• 1x spindle-holder
• 1x fixring-small

Insert a spindle-holder into the leftside and the fix the arm with a fixring-small using 6 ISO4762 M3x20 screws.

3D parts used:

• 1x spindle-holder
• 1x gear-left
• 1x fixring-small

Fix the gear-left with the spindle-holder using 6x ISO4762 M3x30 screws.

Insert a F686ZZ bearing into the spindle-holder as shown in the picture.

Fix a ISO4033 M6 hexagon nut with a ISO10511 M6 hexagon nut on one side of the threaded rod M6x100 as shown in the picture. Add a ISO7091 M6 washer to it and insert it it into the F686ZZ bearing. On the other side add a ISO4033 M6 hexagon nut.

3D parts used:

• 1x gear-right
• 1x arm-lever

Insert the F686ZZ bearing into the arm-lever as shown in the picture and fix it to the gear-right using a ISO4762 M3x20 screw

Add a ISO7093 M6 large washer and the arm-lever gear-right combo.

Add a ISO4033 M6 hexagon nut.

Add 2 GT2 2M-310 belts. On the open side of the rod add a F686ZZ bearing with an ISO7091 M6 washer and finish with a ISO4033 M6 hexagon nut.Then tighten the hexagon nut until there is more backlash.

Insert the two 17HS19-2004S1 stepper the belts with pulleys and the gears. Then push the motors down to put the belts under tension and fix the motor screws.

3D parts used:

• 2x triplate

Insert 2 F688ZZ and 4 F686ZZ bearings into the triplate parts as shown in the pictures.

3D parts used:

• 1x pleuel-slight-bended
• 2x pleuel-extra-bended
• 2x pleuel

Add 10 ISO7092 M6 washers to the pleuels as shown in the picture.

3D parts used:

• 1x arm-bed

Insert the F686ZZ bearing as shown in the picture.

3D parts used:

• 1x head

Insert the 4 F686ZZ bearings and the 4 ISO4033 M4 hexagon nuts into the head part as shown.

3D parts used:

• 2x bolt-spacer-6x3

Two sets of a ISO4762 M3x18, bolt-spacer-6x3, a ISO4033 M3 hexagon nut and 2 ISO7093 M3 large washers will be used to fix the head to the arm-bed.

On both sides of the bearing there should be 1 washer.

3D parts used:

• 2x bolt-spacer-8x4

Fix the triplate to the elbow using a sets of a bolt-spacer-8x4, a ISO4762 M4x28 screw, 2 ISO7093 M4 large washers and a ISO4033 M4 hexagon nut.

Fix all other parts of pleuels using sets of a ISO4762 M3x12 screw with a ISO7093 M3 large washer.

This shows the final result after fixing the pleuels.

Prepare the connector using a male pin header 2x6P and a breadboard and connect a cable as shown in these pictures.

Add a self closing sleeve to protect the cables.

Use the arm-bed holes to drill the holes into the breadboard.

Place the connector with cable.

3D parts used:

• 1x dupontHolder

Fix the dupontHolder using 2 ISO4762 M2.5x12 screws.

3D parts used:

• 2x cableHolder

Fix the 2 cableHolder parts using 4 ISO4762 M2.5x8 screws.

Align the cable inside the arm.

3D parts used:

• 1x cableCap

Fix the cableCap to the cable using a small cable binder.

Cut all cables to reasonable lengths. Too short cables are difficult to mount. Totheo long cables will not fit into the limited space provided by the track line or other mounts for the robot arm.

Solder the 2 2x6P connectors to cable.

Prepare the endswitch cable as shown.

3D parts used:

• 1x back-stopper

Fix the two endstop switches to the back-stopper part using 4 ISO4033 M2 hexagon nuts and 2 ISO7380-1 M2x10 screws and 2 ISO7380-1 M2x8 screws.

Fix the cableHolder part to the base part using 4 ISO4762 M3x14 screws and 4 ISO4033 M3 hexagon nuts.

Fix the back-stopper parts to the base part using ISO4762 M3x12 screws.