An inexpensive triple robot GCODE-based fabrication and computer vision system using RAMPS hardware, extruded aluminum framing, and 3d printing.
Youtube videos of bench in action
Fabricator
The Fabber is a modular 3-axis robotic system. Various toolheads may be attached such as a CNC laser, pen, paste extruder, filament extruder, or motorized spindle.
The RepRap Arduino Mega Pololu Shield (RAMPS) shield attaches to an Arduino mega to enable stepper motor, limit-switch, servo, and other controls. Traditionally the RAMPS shield is used to build 3d-printers but is easily extendable to other projects.
The computer vision system uses a simple overhead webcam, OpenCV, and Tensorflow.. with a little custom image processing code.
For basic development and testing a test rig was created for writing the integration code. This eased development and had the added benefit of having different distances and lighting conditions which helped the robustness of the final system installed to the bench.
Print plate construction
Maxwell Kinematic Coupler
The Maxwell Kinematic Coupling helps ensure proper seating of the plates into the fabricator by the robot arm. It also prevents motion during the engraving process.
Maxwell Kinematic Coupling: https://en.wikipedia.org/wiki/Kinematic_coupling
The Maxwell Kinematic Coupling helps ensure proper seating of the plates into the fabricator by the robot arm. It also prevents motion during the engraving process.
