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AMB C1 User Documentation

AMB C1 User Documentation

Overview

The AMBOTS AMB C1 is a Selective Compliance Assembly Robot Arm developed by AMBOTS for swarm 3D printing.

Principles

Movement

The cartesian XY coordinate system needs to be translated into the SCARA coordinate system to be used by a SCARA robot. The position of the SCARA’s end effector in the cartesian plane is determined by six variables, the length of each arm, the angular position of each arm, and the distance in X and Y from the center of the proximal joint to the (0,0) coordinate.

Calibration

For the translation into the SCARA coordinate system to properly represent the cartesian coordinate system, the six SCARA variables must be calibrated. Calibration improves dimensional accuracy and alignment for cooperative printing. The calibration system requires four reference points on the build plate to run a solver algorithm on the six variables for the SCARA robot to reduce the error between the reference points.

Printing

AMBOTS SCARA 3D Printer is an FDM printer using PLA plastics. FDM extrusion consists of a Bondtech Extruder, a Slice Mosquito Magnum hotend, and filament sensor for detecting filament runout.

Specifications

Printing

Build Volume (single build plate XYZ)

550x250x300 mm

Build Volume (Swarm Printing XYZ)

(∞x∞x300 mm)

Nozzle

0.8 mm

Layer Height

0.2-0.6 mm

Recommended Max Print Speed

100 mm/s

Max Speed

200 mm/s

Max Print Acceleration

600 mm/s2

Max Acceleration

1000 mm/s2

SCARA Specs

 

 

Proximal Arm Length

220 mm

Distal Arm Length

225 mm

Z Height

300 mm

Movement Range Proximal Joint

130 : -49 degrees

Movement Range Distal Joint

10 : 166 degrees

Maximum Arm Rectangular Reach (XY)

600x270 mm