Parts list
The bought parts the tool changer build uses. It's still a work in progress, so this list can change.
One tool changer
Arm-side master, one tool coupler and one dock.
| Part | Qty | What it's for | Details | Where |
|---|---|---|---|---|
| SO-101 arm (follower), TheRobotStudio design | 1 | the arm the changer mounts on | SO-ARM100 / SO-101 repo: printed parts, STS3215 servos, controller board | GitHub |
| Steel dowel pin, plain cylindrical 3 mm x 12 mm (pack of 50) | 9 | steel V-seats on the arm-side ring (6) and the pins on the tool coupler plate (3) | 3 mm dia x 12 mm, 304 stainless, unthreaded | Exact part (Amazon) Search Amazon |
| N52 neodymium disc magnet 6 mm x 3 mm (pack of 50) | 2 | one in the tool neck and one in the dock floor, so a parked tool is not dragged out | 6 x 3 mm, N52 | Exact part (Amazon) Search Amazon |
| Chrome steel ball 5/32 in (3.97 mm), G25 (pack of 100) | 3 | tips of the three spring plungers on the arm side | 5/32 in, G25 chrome steel, non-magnetic | Exact part (Amazon) Search Amazon |
| Compression spring 5 mm OD x 0.7 mm wire x 10 mm free (pack of 10) | 3 | push the three plungers (and the tool plate back) in the twist-lock | 5 mm OD, 0.7 mm wire, 10 mm free, 304 stainless; about 10 N at 8.05 mm | Exact part (Amazon) Search Amazon |
| M3 x 10 countersunk (flat head) hex socket screw, 90 deg (pack of 50) | 8 | hold the coupling plate to the tool neck (4) and the clamp bars to the dock frame (4) | M3 x 10, 304 stainless, countersunk | Exact part (Amazon) Search Amazon |
| M3 brass heat-set insert, 4.0 bore x 6.7 L | 15 | threaded holes in the arm-side hub, ring and cage (7), the tool neck (4) and the dock frame (4) | M3 thread, 4.0 mm bore, 6.7 mm long | Search Amazon |
| M3 button-head socket screw, 5 to 8 mm (kit) | 13 | hold the arm-side parts together | M3 ISO 7380 button head: 4x M3x6 (hub to roll horn), 5x M3x8 (ring to cage, strap), 4x M3x5 (carrier to gripper horn) | Search Amazon |
| M3 x 40 socket head cap screw | 2 | hold the servo cage up into the hub (2) | M3 x 40 hex socket | Search Amazon |
| Double-sided tape disc D10 x 0.4 mm | 2 | stick the dock stop pads to the dock wall | 10 mm dia x 0.4 mm, cut from 1 in tape | Search Amazon |
| Double-sided tape strip 23.6 x 14.8 x 0.4 mm | 2 | stick the dock cradle columns to the dock foot | 23.6 x 14.8 x 0.4 mm, cut from 1 in tape | Search Amazon |
| PTFE grease, 0.75 oz tube | 1 | light coat on the locking surfaces | all-purpose PTFE grease | Search Amazon |
| Cyanoacrylate gel glue | 1 | glue the steel dowels and the lead-in skirt | clear CA gel | Search Amazon |
| PLA filament 1.75 mm, black (2 x 1 kg) | 1 | most printed parts | 1.75 mm PLA | Exact part (Amazon) Search Amazon |
| PLA filament 1.75 mm, white | 1 | dock retrofit kit prints | 1.75 mm PLA | Search Amazon |
| TPU 95A filament 1.75 mm | 1 | the two small pads on the arm-side servo cage | 1.75 mm TPU 95A | Search Amazon |
Plus 20 printed parts (23 pieces). The STL files are on GitHub.
Each extra tool
Add these for every extra tool you want the arm to pick up.
| Part | Qty | What it's for | Details | Where |
|---|---|---|---|---|
| Steel dowel pin, plain cylindrical 3 mm x 12 mm (pack of 50) | 3 | the three pins on the new tool's coupler plate | 3 mm dia x 12 mm, 304 stainless, unthreaded | Exact part (Amazon) Search Amazon |
| N52 neodymium disc magnet 6 mm x 3 mm (pack of 50) | 1 | one in the new tool's neck | 6 x 3 mm, N52 | Exact part (Amazon) Search Amazon |
| M3 x 10 countersunk (flat head) hex socket screw, 90 deg (pack of 50) | 4 | hold the coupling plate to the new tool's neck | M3 x 10, 304 stainless, countersunk | Exact part (Amazon) Search Amazon |
| M3 brass heat-set insert, 4.0 bore x 6.7 L | 4 | threaded holes in the new tool's neck | M3 thread, 4.0 mm bore, 6.7 mm long | Search Amazon |
Optional
Only for the optional R2 dock head.
| Part | Qty | What it's for | Details | Where |
|---|---|---|---|---|
| M3 brass heat-set insert, 5.0 OD x 4 L | 4 | attach the optional R2 dock head (4) | M3 thread, 5.0 OD, 4 long | Search Amazon |
| M3 x 10 button-head socket screw | 4 | attach the optional R2 dock head (4) | M3 x 10 ISO 7380 | Search Amazon |
"Exact part" opens the listing I bought from. "Search" opens a general search on that site in case the listing is gone, so check the size and pack count before you buy. Where a part only has a search link, it's a generic part and any equivalent works. Qty is how many pieces the build uses, and some parts are sold in packs. Links go through logicframeco.com/go so I can count how many times they get used. These links don't set cookies.