Makelangelo News

Makelangelo Belt Tensioner

Makelangelo is a wall hanging, mural drawing machine. There is a motor on the top left and top right of the wall, and belts hang down from there to the pen. Tension caused by gravity keeps the belt on the pulley.

To draw on the entire wall you need a belt long enough for the pen to reach the bottom corners, going diagonally across the drawing area. That means if the pen were to be in the middle and drop all the way to the bottom it would hit the floor.

Problem

When the machine tries to find home by touching limit switches, the pen holder hits the floor as described. Gravity stops, tension is lost, and the machine becomes confused.

Solution

This 3D printed tensioner fits a roller skate bearing (8x22x7) and holds the bearing against the belt, gently pinching it against the pulley. This prevents skipping and allows large machines to find home.

This has an added bonus of letting the machine accelerate faster without skipping.

Print two (one for each bearing) and then fit them onto the two corners and enjoy!

Download the part from Thingiverse here: https://www.thingiverse.com/thing:3895310

Makelangelo News Robot Arm

Weekly summary ending 2018-02-22

Hey, gang! Here is what we worked on in the last week, where we are heading next, and how you can join us.

Makelangelo Update Released!

Makelangelo Software v7.20.1 and Makelangelo firmware v9.0.0 are out now. This is a major change to the firmware which rewrites all the logic for planning movement, especially with acceleration and deceleration. If you upgrade one then you must upgrade both. We have written a guide to help you with updating the Makelangelo firmware that should make this easy for you.

One of the side effects is that the old and busted steps/min values have been replaced with new hotness mm/s and mm/s/s. I am getting good drawing results with top speed=90mm/s, drawing speed=60mm/s, and acceleration=300mm/s/s. See for yourself.

Makelangelo 5 at Science World Vancouver, Feb 20, 2019

Wednesday the power was out for a scheduled electrical upgrade and we used the time at Vancouver’s Telus World of Science to take some better photographs and video. I hope that with this I can finally make a presentation pitch video that does the machine sweet vengeful justice.

Fun fact: A large sheet of acrylic has enough static cling and surface tension to hold an A0 sheet of paper without tape.

Makelangelo on a white board

I find that the Makelangelo suction cups work great on glass …and not so great on a class room white board. I tasked Jacob with designing a new system and he went through several rapid prototype iterations.

In house we’ve moved on a few versions from what you just saw and have an even better design. When it’s ready we’ll offer it in the store and on Thingiverse.

I should also mention Scott has been doing a great job of manufacturing Makelangelos and documenting process. I don’t mention enough how good he’s doing (very!) at a job some people would look down on. Documentation is hard, yo! He’s even inventing better ways to make the machines faster with less futzing.

Sixi motors arrived

Jin was taking some much earned time off this week, during which time the motors and the power supply we ordered finally arrived. As I write this he’s doing electrical tests and torque tests and making sure that everything is to spec.

Meanwhile, on the other side of town,

In anticipation of our new CNC machine arriving in ~6 weeks I’ve been taking night classes to learn how to be a better machinist. Here’s a funny from my last session:

Manners really seal the deal.

Next

The next week is Jacob & Scott’s last week of internship. Pizza party? Pizza party. If everything goes well with the testing we should be installing the new motors into Sixi this week. I can wait, but I don’t want to… 😭

Join Us

Get the latest Sixi Master Assembly for Fusion360 on Patreon
OR
Buy anything in our store and mention ‘The Fusion link’ in the notes field to get a link by email.

You can use this file to build your own copy of the robot arm.  Put that 3D printer you bought to use – Make it your own! Share your creation with others!  That’s what open source is about.  If you build one we would love to share it with others.  I am actively seeking talent… show me what you got.

As always, follow our daily progress on our Instagram or see our older stuff on Youtube.

You can do us a huge favor by watching just 2 minutes of video on our Youtube channel. We have 44k subscribers on IG and we need 100k minutes watched to monetize our channel. If you all watch 2 minutes of video that’s 88k minutes done, finito, in the bank, sayanora. So Like, Share, Subscribe! We thank you.

Lastly, thank you for your likes, subscribes, comments, and purchases. You keep the lights on and the mood high so we can keep working on awesome things that will help the planet.

News

Weekly summary ending 2018-02-08

Hey, gang! Here is what we worked on in the last week, where we are heading next, and how you can join us.

The business of making

The CNC machine has been ordered and everything is now in place – the Vending Machine is gone to make room and electrical in the workshop has been upgraded in preparation. I asked for the invoice two days ago and have yet to receive it /_/

恭喜發財! gōng xǐ fā cái! Or in other words, we are still waiting on parts to arrive from our suppliers. My understanding is that most of china takes a week off and goes home, much like western xmas/new years.

Also! Somehow last week’s summary was left as a draft all week. It has been posted. Oops.

Makelangelo v7.20.0

I have spent most of the last week upgrading the Makelangelo firmware on Github. Previous all speed control was in a mysterious “steps per second” and acceleration was … well, I was faking something that worked good enough. Because MF runs on all our robots, I tried to use it for the Sixi arm and discovered that the fake acceleration was no longer good enough. It has now been much improved! Steps per second has been replaced with mm/s and mm/s/s. Acceleration is much more sane. The changes can be installed on any existing Makelangelo 5 robot. (Maybe a v3? Someone try it and let me know!)

And then just a few hours later I had it solved:

The Makelangelo Software has also been improved to match. I’ve opened and closed at least a dozen bugs this week. Speaking of which! I have finally found a great technique to fill in solid regions of closed shapes. The secret is to use the Eggbot Inkscape plugin from our friends at Evil Mad Scientist Labs. Check this Spongebob, which my nephew says is 💯.

The code for the Makelangelo is also used in other robots like the Stewart Platform. (The firmware is a bit like the One Ring, it rules them all.

Sixi

The only word on the Sixi this week is that Jin’s math has calculated the estimated speed of the robot. At the shoulder we expect, under ideal conditions, to sweep the work area while carrying the payload in about three seconds. So I guess we’re Hangin’ Tough. Meanwhile Jin has been deep into designing the elbow, the shoulder, and the base.

Next

Next week, assuming there are no bug reports on Github, I will be releasing the updated Makelangelo firmware and Makelangelo software for everyone. You can get it now and try it yourself here for firmware and here for software. Note these are the raw files for programmers, so some massaging will be needed.

Join Us

Get the latest Sixi Master Assembly for Fusion360 on Patreon
OR
Buy anything in our store and mention ‘The Fusion link’ in the notes field to get a link by email.

You can use this file to build your own copy of the robot arm.  Put that 3D printer you bought to use – Make it your own! Share your creation with others!  That’s what open source is about.  If you build one we would love to share it with others.  I am actively seeking talent… show me what you got.

As always, follow our daily progress on our Instagram or see our older stuff on Youtube.

Lastly, thank you for your likes, subscribes, comments, and purchases. You keep the lights on and the mood high so we can keep working on awesome things that will help the planet. Special thanks this week to EMSL and to James Bruton for his tips on Youtube filming