6-Axis End Effector for 3D Printer

**Convert your Delta 3D printer into an affordable 6-axis robot.**

This repository contains a coaxial Spherical Parallel Mechanism(SPM) module, designed to replace the end effector of a Delta 3D printer, effectively adding 3 more axes to the machine. Compare to robotic arm that can cost up to 20K per piece, you can build this version of 6 axis robot for **less than 500USD** (printer, hardware and print cost included).

Compare with robotic arms, SPM provide better performance than their serial manipulator counterparts with regard to positioning accuracy, speed, force application, and payload-to-weight ratio.

This project, together with Seastar and Repetier6X, was made possible by the generous support of SPACE10 through a research residency program in summer 2019.


**Hardware required:**
* Anycubic Linear Plus
Or equivalent. This system was chosen for its fast Z feed rate and linear rail for sturdy linkage(vs magnetic)
* Azteeg X3 Pro
Or equivalent board wit