SACRA robot

简介

Meet the SACRA Robot (PRRR)—a 3D-printable, four-axis robotic arm powered by NEMA 17 stepper motors. Its PRRR (Prismatic-Rotational-Rotational-Rotational) configuration provides a versatile range of motion, making it ideal for light assembly, educational projects, and DIY automation demonstrations. This design stands out for its compact form factor, robust structure, and open-source inspiration—perfect for makers and robotics enthusiasts looking to explore or teach mechanical motion control. BOM: esp32 3X Nema 17 3xTMC2209 Drivers 28BYJ-48 Step Motor 3x TMC2208 3mm Ball Pellet - 250 Pieces 4x 608zz Bearing Metal Ball Screw nut450mm - Trapezoidal T8 8mm M3,M4,Screw This robot is perfect for hobbyists wanting to learn about robotic kinematics, students studying mechanical engineering, or tinkerers who enjoy building functional 3D-printed machinery. Originality & Essential Features: The design merges ease of printing with mechanical simplicity, ensuring minimal post-processing. Despite its simplicity, it offers a real-world demonstration of robotic arm concepts and can be adapted for small pick-and-place tasks or other custom functionalities. Potential Limitations: Not intended for heavy loads or industrial-scale tasks. Requires careful calibration and a basic understanding of stepper motor control. Inspirations & Credits: This design was inspired by various open-source robotic arm projects. If you remix or modify it, feel free to credit the original references to help build a…