# 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>