Athena Sprung Tool

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Files[edit]

Download the OpenSCAD library from https://github.com/phidiasllc/tool_effector. Please read the instructions on that page!

There is also a folder containing stl models of common tools at that location.

Materials and Tools[edit]

File:Athena tool effector material.JPG
Athena tool effector materials.
Materials
Description Count
Printed sprung tool mount 1
Printed sprung tool holder 1
3/8" ball bearings 3
Small springs (from retractable pen) 3
M3 x 35mm socket head cap screws, partial threads (fully threaded will not work) 3
M3 nylock nut 3
M3 x 10mm socket head cap screw 3
M3 hex nut 3
Plastic epoxy
File:Athena tool effector tools.JPG
Tools required for tool effector assembly.
Tools
Assembled small tool effector
Needle nose pliers
Precision knife
5.5mm wrench
2.5mm allen wrench
3mm drill bit
Small flat bladed screwdriver
Paper towel
Stirring stick
Epoxy mixing pallet

Note[edit]

The sprung tool mount requires the small tool effector.

Assembly[edit]

  1. Clean up the print with a small flat screw driver and precision mount. Clean the bearing pockets with the small screwdriver.
  2. Carefully ream the guides for the M3 x 35mm screws. DO NOT ream too much - the screw shafts should move freely but not cant in the guides.
  3. Carefully remove the printed supports from the tool holder; pliers work nicely. Ream the holes with a 3mm drill bit.
  4. File:Athena sprung tool check.JPG
    Check fit of holder in mount.
    Check that the tool holder fits in the mount. The holder should move freely in the mount. Clean both as required.
  5. Press the M3 nuts into their pockets in the tool holder with the pliers.
  6. File:Athena sprung tool clamps.JPG
    Start M3 x 10mm screws in nuts.
    Start the M3 x 10mm screws in the just-inserted nuts.
  7. File:Athena sprung tool assemble.JPG
    Assemble holder and mount.
    Place the tool holder into the mount with the screws and nuts on the top side of the mount. Rotate 60 degrees so screw holes align. Start an M3 x 35mm screw through one of the tabs in the top of the holder, place a spring on it and push it through the mount and then the tab on the opposite side of the holder. Secure in place with an M3 nylock nut. Repeate with remaining screws.
  8. Work the holder up and down in the mount, apply some grease to the screw shafts and continue working until the holder moves freely in the mount.
  9. Remove all grease and corrosion inhibitor from the ball bearings. Use acetone if necessary.
  10. File:Athena sprung bearings.JPG
    Put bearings on magnets.
    Put the ball bearings on the three inner magnets on the bottom of the small tool effector.
  11. File:Athena sprung tool epoxy.JPG
    Epoxy bearing pockets.
    Mix a small amount of epoxy and smear some around the interior of the bearing pockets. Align the fiduciary marks on the sprung tool mount and small tool effector and squeeze the sprung tool mount onto the ball bearings. Set aside to let epoxy cure. NOTE: If too much epoxy is applied to the bearing pockets, it can run down and epoxy the tool mount permanently to the tool effector.
File:Athena sprung tool.JPG
Completed sprung tool mount.
Athena Upgrades
The mobile tool effector permits easy change-out of tools on the end effector. The following require the mobile tool effector.
Cylindrical tool mount holds small cylindrical tools and is the simplest of the tool holders, having limited uses.
Sprung tool mount holds cylindrical tools in a sprung mount for pen plotting and vinyl cutting, for example.
Microscope holder holds USB microscopes, turning Athena into a quite good 3-axis microscope stage.
The fixed tool mount permits mounting and swapping of heavy, fixed tools that then work the moving workpiece. The following require the fixed tool mount.
Micro mill spindle mount permits attaching a micro mill spindle for small milling projects like PCB prototyping, milling small wood and plastic parts.
Syringe pump mount permits attachment of a 3-D printed syringe pump for printing and plotting viscous fluids.