Custom Part Manufacturing Guide
Calculating Kinematics of a CTR
Graph Paper In-Plane Bending Experiment
Out-of-Plane Rotation Experiment
This page includes links to download all parts that you will need to either 3D print or laser cut. Each part will contain multiple files. Use the one that best suits your equipment. See the Custom Part Manufacturing Guide for some tips about using laser cutters and 3D printers.
Part lists are separated out into different sections of the actuation system. The first section are the parts needed to construct the main frame. The second section are components needed to construct a single cart.
<aside> 📎 Note about .STEP files: Any files that end in .STEP will open as a text file in a browser. Since a STEP file is really just a fancy text file, Notion assumes that you want to read it. To download it, you’ll need to copy the text and paste it into a file in your local machine. Make sure to save the file with a .STEP extension.
STL files will download normally.
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<aside> 📎 Plate Manufacturing. We recommend that you laser cut the plates out of acrylic. All plates (end plates and cart plates) must be 1/2” thick. Instead of using pieces of 1/2” acrylic, consider using 1/4” acrylic and cutting out double the QTY needed. For example, you can cut out four 1/4” acrylic end plates above instead of two 1/2” end plates. 1/4” acrylic is cheaper, more available, and easier to laser cut. If you are just learning how to laser cut, we strongly recommend using 1/4” acrylic for the best results.
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The table below lists all of the components required for ONE cart. You will need one cart per tube of your CTR. For a three-tube CTR actuation system, multiple each of the QTYs by 3.
This table contains accessory parts for the robot. These are pieces that help with experimentation once you have a fully working robot. The graph paper mounting board is for an in-plane bending experiment, the radial dial is for an out-of-plane bending experiment, and the motion capture frame is for use with an IR retro-reflective motion capture system.