Materials and CAD Files

Structural Components

Electronics and Motors

Hardware

Custom Part Files

Tube Materials

Assembly Guides

Custom Part Manufacturing Guide

Full System Assembly

Cart Assembly

Tube Fabrication

Electronics Setup

Electronics Board Setup

Firmware Installation

Wire Management

Full System Test

Kinematics

Calculating Kinematics of a CTR

Implementing Kinematics

Troubleshooting Kinematics

Experiments

Installing Tubes

Homing the Robot

Graph Paper In-Plane Bending Experiment

Out-of-Plane Rotation Experiment

One of the most important parts of assembling a robot is putting together the control system and managing all of the motor wires. Here we will go over how to mount the control board to the robot and tie up the motor wires such that they are neat and out of the way.

1. Add four M3 heated inserts to the board mounting plate as shown below.

   

2. Using the four mounting holes in the middle of the plate, attach the board mounting plate to the back of the actuation device.

3. Plug a motor cable into each of the stepper motors. Label both the motor end of the wire and the free end of the wire with the letter shown below. Use masking tape or similar to create the labels.

1. Gather all cables on each side of the robot together and tie them to the slots in the mounting board. Use a zip tie or similar to secure the wires.

1. Plug all motors in to the corresponding slot on the board. Use the labels that you created earlier to tell which wire goes to which motor.

6. Plug in the power supply and the USB cable.

That’s it! The robot is all set up. You can now move on to the Full System Test!