README.md

# UrumbotXY Fall 2022

This project is a [corexy](https://corexy.com/theory.html) 2D motion system using serialstep. Modified from original files in UrumbotXY.

<img src=img/corexy_pen.jpg width=100%><br>

## CoreXY

For a simple coreXY motion system, here is the list of parts you need to make:

<img src=img/doc/corexy_kit.png width=100%><br>

It is advised to 3D print `capstan_motor` and `capstan_pulley`, while all other parts can be machined or laser cut. 3D models files are available under [./files/3d](./files/3d), and dxf files under [./files/2d](./files/2d).

For assembly, you will also need:

- 2x NEMA 17 motors
- 9x bearings
- 8x V bearings
- 4x small bearings
- M5 screws (structure and bearings)
- M5 nuts and washers
- M3 screws (string tensioners)
- M3 nuts and washers

Complete Bill of Materials (BOM) [here](https://docs.google.com/spreadsheets/d/12hboCFKMO40W-K4HecSFnBYBTcj8XZnGsIHQOlsHlmI/edit?usp=sharing)

## Assembly of XY axes.

### first

### second
### third
### fourth


Note how the string is inserted on the capstans. The string can be attached to temporary anchor points to provide enough tension during this step. Inside `capstan_pulley`, you should insert a small bearing at the top and bottom. Use appropriate washers to have the correct height; there are 4 levels on `capstan_pulley`, and they should be aligned between each levels of `capstan_motor`.

<img src=img/capstan.jpg width=100%><br>





## Pen plotter

Pen:

<img src=img/corexy_pen.jpg width=100%><br>

Drawing:

<img src=video/corexy_spiral.mp4 width=100%><br>