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Kossel arm jig

For Delta-style robots, arm length is critical to accurate positioning of the end effector. To ensure consistent lengths for the six Mini Kossel arms, I built a jig by drilling two holes, 215 mm on center, and installing two 3 mm dowels into the holes. The dowels provide a reference for the rod ends.

The rod ends themselves consist of Traxxas rods that have been reamed out to accept a 4mm dowel. A bushing (4 mm ID, 6 mm OD) is pressed into the carbon fiber rods (6 mm ID), and the rod ends are pressed into the bushing and left to dry 24 hours with Loctite 609 retaining compound.


6 years, 10 months ago

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Camera Information

Aperture f/29
ISO Speed 800
Camera NIKON D90
Focal Length 40 mm
Exposure 1/200 sec

Additional Information

Thumbnail ResolutionUnit Pixels/Inch
ExifOffset 228
SubjectDistance Range 0
ComponentsConfiguration YCbCr
LightSource Unknown
CustomRendered Normal
FlashPix Version 0100
DateTime 2014:04:28 21:31:43
MeteringMode Pattern
ExifVersion 0221
Software Ver.1.00
Contrast Normal
Saturation Normal
Flash Flash fired, compulsory flash mode, return light detected
SubSec Time 00
FocalLength In35mm Film 60
Model NIKON D90
Orientation Horizontal (normal)
DateTime Original 2014:04:28 21:31:43
Y CbCr Positioning Co-sited
InteroperabilityOffset 36492
F Number 29
FileSource Digital Camera
Exif Length 2848
SceneType Directly Photographed
ResolutionUnit Pixels/Inch
Thumbnail Y CbCr Positioning Co-sited
GPS GPS VersionID [2, 2, 0, 0]
CompressedBits PerPixel 4
ExposureBias Value 0
GPS Info 36524
ExposureProgram Manual
Thumbnail Y Resolution 300
ExposureMode Manual Exposure
DateTime Digitized 2014:04:28 21:31:43
Exif Width 4288
Thumbnail Compression JPEG (old-style)
SceneCapture Type Standard
GainControl Low gain up
DigitalZoom Ratio 1
SubSec TimeOriginal 00
ColorSpace sRGB
FocalLength 40
ExposureTime 1/200
X Resolution 300
WhiteBalance Auto
CVA Pattern [0, 2, 0, 2, 1, 2, 0, 1]
ISO SpeedRatings 800
Y Resolution 300
MaxAperture Value 22/5
Thumbnail X Resolution 300
SensingMethod One-chip color area
Sharpness Normal
SubSec TimeDigitized 00