About this 3D model

N-DOF: The Modular Robotic Arm This project uses connectors that are compatible with Modular Mounting System (MMS) and GoPro to join motorized robotic modules. Features Modular : Ideal for flexible use and re-use. Try different arm designs without having to re-print parts. Disassemble and reassemble with ease. Limitless : Print the same part multiple times and chain them together. N-DOF = "N Degrees Of Freedom". Extensible : Have a motor or actuator you want to use in your own robot? Design a joint with GoPro mounts separated by 30 mm... Now it is N-DOF compatible! Compatible : There are a huge number of mounts for various objects that are already compatible with N-DOF. Search for "Modular Mounting System" or "GoPro". Included Modules The included modules use print-in-place joints to keep part count low. They require supports when printing and a little force to move for the first time. Included modules use NEMA 17 stepping motors. The only non-printed parts required are M3 bolts to mount the motors. If you are thinking of designing a module that is compatible with N-DOF, these features are not a requirement. Base Gear ratio = 6:1 Support blockers when slicing may help support removal. If greater stability is required, print some MMS arms to spread the legs out further. 2 x M3 bolts required to mount NEMA 17. 6 x legs. 1 x motor gear (with 12 teeth). Gear Joint Gear ratio = 4:1 Support blockers when slicing may help support removal. This joint has an asymmetric range of motion: -60 deg to 150 deg. 3 x M3 bolts required to mount NEMA 17. 1 x motor gear (with 12 teeth). Swivel Joint No gearing. This could be improved using planetary gears. 4 x M3 bolts required to mount NEMA 17. Notes Regular PLA might not be strong enough for the M5 bolts. I used PolyMax PLA and have had no issues. If extending the arm to great lengths, be sure to attach the base to a desk with a clamp so it doesn't tip over. OpenSCAD code can be found at https://github.com/keeeal/n-dof