README.md

# UrumbotXY 2.0

<img src="img/overview.jpg" width=80%>

This project aims to push the limits of easy-to-replicate, high performance cable driven motion. This coreXY motion platform uses a nylon-coated steel cable under high tension to transmit fast and precise motion.

## Fabrication

This design uses a mix of flat parts, and 3D printed parts.

The flat parts can be laser cut or waterjet out of a material 3-5mm thick. A file containing all the parts can be found [here](./design/cut/), and fits on an A4 page:

<img src="img/plate_cut.png" width=80%>

The files to 3D print can be found [here](./design/print/), and fit on a standard Prusa bed. The recommended material for the print is **PETG**, though PLA can be used if no other option is available. The main issue with PLA is that is will creep overtime, offering no long term guarantees on a mechanical part.

<img src="img/plate_print.png" width=80%>

Once the files are ready, gather all the hardware you'll need and follow the assembly steps below.

## Assembly

<img src="img/gantry_parts.jpg" width=80%>

<img src="img/gantry1.jpg" width=80%>

<img src="img/gantry2.jpg" width=80%>

<img src="img/gantry3.jpg" width=80%>

<img src="img/gantry4.jpg" width=80%>

<img src="img/gantry_assembled1.jpg" width=80%>

<img src="img/gantry_assembled2.jpg" width=80%>

<img src="img/gantry_assembled3.jpg" width=80%>

<img src="img/gantry_assembled4.jpg" width=80%>

<img src="img/gantry_assembled5.jpg" width=80%>

<img src="img/bracket_pulleys.jpg" width=80%>

<img src="img/carriage1.jpg" width=80%>

<img src="img/carriage2.jpg" width=80%>

<img src="img/carriage3.jpg" width=80%>

<img src="img/carriage4.jpg" width=80%>

<img src="img/carriage5.jpg" width=80%>

<img src="img/motor_assembly.jpg" width=80%>

<img src="img/pulley_assembly.jpg" width=80%>

<img src="img/pulley_back.jpg" width=80%>

<img src="img/capstan.jpg" width=80%>

<img src="img/cable_routing1.jpg" width=80%>

<img src="img/cable_routing2.jpg" width=80%>

<img src="img/pulley_tension.jpg" width=80%>

<img src="img/cable_routing3.jpg" width=80%>

<img src="img/cable_routing4.jpg" width=80%>

<img src="img/one_loop.jpg" width=80%>

<img src="img/overview.jpg" width=80%>

## Demo

![](video/motion.mp4)

## Download

The files to 3D print can be found [here](./design/print).

The files to laser cut or waterjet can be found [here](./design/cut).