Community Robot Arm 

Proper motor drivers and the steppers are geared with the belt

The software generates linear speed ramps driving the stepper motors concurrently - see the basics in www.embedded.com/generate-stepper-motor-speed-profiles-in-real-time/. I also adjusted the maximum possible speed and acceleration to allow a smooth operation. But this is still an area for enhancements.

accel/decel planner

No, in this example I'm using a combination of a Arduino Mega 2560 with a RAMPS 1.4 board. For future projects I switch to Wemos D1 R32 (ESP32) with a CNC Shield V3.0. In all cases I connect the controller via USB cable to a Windows PC which runs YAT to control the serial communication.

I don't speak Turkish, so I ran your question through Google translate: "Congratulations, it's a great project. Can you share the stl files? Especially the part related to the robot subfloor." I'm currently preparing to upload the designs; please be a little patient. The STL for the robot arm is already available online - please see the project "community robot arm" - github.com/20sffactory/community_robot_arm.

I guess that functionality is already build into the current available software. The Prusa slicer has "maximum acceleration" entries in the printer settings. In addition 3D printer also move very slowly in the z-axis direction. The speed of the xy-movement is limited by the extruder capabilities and the accuracy of the printed path. The roboter arm path movement is not so critical - only the endpoints have to be accurate, so we can speed up more compared to 3D printing. Here we also have to move more material and n addition the cheap A4988 cause more movement noise.

I'm currently re-engineering the robot arm and the new version adds rotation around the vertical axis to the gripper.

Sorry, I don't understand this. Can you please rephrase the question?

This is not "my community". Please search for "Community Robot Arm" on the internet. I just built and ran the design that was described there. Please also refer to my description above for more details.

That is correct. Currently I only use step motors.

@@reifo very impressive, can u tell me the cost to make it

@@Huyautomation2901 The four stepper motors are the most expensive part - I got them for 48 Euros. The total cost is roughly estimated 100-120 Euros.

@@reifo thanks,how do you control it ? Through PLC or something..?

@@Huyautomation2901 An Arduino controls the stepper motors via a CNC shield. The Arduino runs a GCode interpreter that receives the commands via USB interface from a Windows computer.

Please find the locations and the wiring of the end stops at github.com/20sffactory/community_robot_arm/blob/master/Assembly%20%26%20Control%20Guides/Wiring%20Guide/wiring-endstops.jpg. The locations have been selected, so that the steppers get a meaningful start point.

​@@reifo Thank you.

I'm using four 17HS19-2004S1 steppers.

so how much weight can lift by your robot??. im starting build too like that but i build robot with tires that focus on agricultural stuff

@@MrUnknown-ur2dsThe "Community Robot Arm" is not very strong. I remember that I've seen a video from someone lifting a small electrical motor. Stepper motors are not very strong and 3D printed material is not too strong. My own design is this one: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE--xeHRSQjPVE.html. It is a bit more solid, but I guess you're looking for more power. That will require motors like Dynamixel servos.

Sorry, this is caused by a strange RU-vid security function. It will take time to fix - in the meantime please use Google to fix these items or take a look at the description again and try to build the links yourself - I added more infos there.

It is an Arduino Mega 2560 with a RAMPS 1.4 board.

@@reifo and be programmed by Arduino IDE ?

Yes, that is the case.

​@@reifobut how you do TCP for this robot.Something like coordinate

The robot works like a 3D printer. It runs a G-code interpreter. On a Windows PC I run "YAT" - here I type a G-code command like "G0X10Y30". This text is sent via USB-serial to the robot that then moves the arm to the (10,30) coordinate.

This comment also has no real value