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Excellent work

Hi my dear. Can you helpme?

harmonics are not backdrivable. wouldnt you want to have your to be backdriveable?

This is really cool; it would be interesting to see how well it does on parts with large z-axis dimensions.

nice work. is there a particular reason to have it continuous full rotation? Instead of just moving it back?

like the way you optimize it with aluminum extrusions

This is awesome! Really cool idea, can't wait to see more!

That’s a cool robot. Good work 👍. I usually scara moving very fast, can this go faster?Thanks for sharing💕

Is this model available to download anywhere? It would suit my need quite well :)

Little late to suggest this, but one way to remove some of the cable issues would be to couple its rotation to the 1st arm segment using the shaft you already run up there. This would keep the the cable from being draged around by the the arm. One thin i would be wary of is the spool placement, as it might get in the way especially if you want to use a springsteal strip to keep the wires from drooping into the toolpath when you raise the arm. Looks awsome, good luck!

what controller are you using

Thank you for the video. How did you calculate the tooth profile for the output ?

Please show us more! I love it!

I think this is the future of 3d printing. The SCARA can print objects that are larger than itself.

What bearings are you using on the arms?

Love it!

wow that thing looks amazing

Did you ever do a torque test?

what are the number for the big belt

Just found ur project, awesome! First thought: why do u have a turning effector unit? Stiff mounted would save so weight. Or do u need it for calculating/ controlling the movement?

I don't understand how output ring is attached to the flexi spline.

Hanzhen harmonic drive gear , strain wave reducer, over 30 years experinece

Hanzhen harmonic drive gear , strain wave reducer, over 30 years experinece

Wow, great machine! I just built a mini scara printer. What is the print volume om this printer?

Can you give information about the motors and belt you use?

hi, can u let us know what the frimware is? it wuild help alot whit my build

Hanzhen harmonic drive gear , robot joint, strain wave reducer, over 30 years experience

Great design! The problem of the wires wrapping around at higher z coordinates should be a non problem if the printer is direct drive, because the filament should be taught enough to spin the spool

Can you give the bearing dimensions?

Amazing ! It is so relaxing to sit and design in cad, I need to get back to it!

nice

Is there a benefit to the end with the extruder rotating? Is that for if you do something other than 3D printing with it?

Make a 3D printer version of this pls!

Why, Mate?? It makes no sense!

What is material of flex gear ．Or belt ?

That is genius dude. This is basically a massive format 3d printer, with a footprint of a ender3

Amazing work

Very nice! Looking forward to see it perform. For the SCARA arm I've been planning for ages I wanted to go cable drive but infinite rotation is just too good to forego. So belt drive it is, but aren't you worried about backlash? GT2 or GT3? Expected precision at end effector? Lately, I've been trying to figure out ways to get rid of the slip ring rotary contacts. Rejected low power, low efficiency induction coils. Landed on thrust bearing pairs for power transfer. Might also work on bearings designed for axial load, but only with electrically conductive silicone lube. Might. For data, either something wireless and low latency (RF24?), but I'm looking at an optically isolated half duplex serial bus right now (so like RS485), where the twisty turny bit has the photodiode/LED pairs looking at each other through a darkened joint shaft. It would be cheaper than slip rings, less noisy, less wear. Potentially slower, though I think 38400 baud should be doable. Also it still needs to be developed. Sorry for ranting, this has been keeping me up at night.

hey, great to hear from you! this is so cool! i was pondering 360 degree scara mechanics not long ago and here you are again with such an amazing new idea. i wouldn't have thought that motor mass is a particularly big concern for scara mechanics as long as it is close to the centre column... and so it wasn't a major design goal in my thinking, but your solution for leaving them ALL in the base is genius. really creative, effective, interesting, and definitely brings a bunch of additional advantages. any hurdles it brought, you seem to have already overcome. its extremely cool to see it working so well! keep up the great work and please do keep posting videos. have there been any developments with your larger scara? the (was it cycloidal or strain wave most recently?) gearbox looked really promising, it would be nice to see it working with the latest refinements. thank you for sharing your ideas, i really find these videos very cool. until next time, best wishes!

I wonder if you could couple the movement of the to to the proximal arm movement so that it's not driven by the wires

Neat. I was in the middle of building a scara a while back but was having issues with the elbow joint so I had the idea just use a linear axis instead. So I basically had a rotating base with z and x axes on top. I called it an inverted polar and much like this design it was capable of printing in 360 degrees around itself. There's a video up on my channel, I've done several iterations of it since then and it proved to be a very reliable and versatile machine up until recently when I left it in my car and the printed parts deformed in the heat.

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Hey man.. this is a cool project keep doing it.. it’s great..

Any progress I’d love to see more!

the banding could just be caused by overextrusion...

Do you have any CAD files for this? I do a lot of toolhead design and I'm definitely interested in helping your toolhead situation

Hanzhen harmonic gear , robot arm gear , joint gear , over 30 years experience

Hanzhen harmonic gear , robot arm gear , joint gear , over 30 years experience

Hanzhen harmonic gear , robot arm gear , joint gear , over 30 years experience