Cartesian Robot 3D Model

A 3-axis Cartesian Pick-and-Place Robot designed for precision automation tasks. This open-source project includes a full mechanical CAD assembly, bill of materials, technical drawings, and image references. Built using stepper motors, timing belts, and aluminum extrusions, the robot is controlled via an STM32 microcontroller and can be extended to CNC, sorting, or pick-and-place systems.

📁 Project Structure

Cartesian_Robot_3D_Model/
├── CAD/
│   └── project_v1_v6.f3d
├── Docs/
│   ├── Cartesian_Robot_BOM.pdf
│   ├── pick_and_place_project.PDF
├── Images/
│   ├── pick_and_place_project_001.JPG to _020.JPG
│   └── Final Renders
├── README.md

🔧 Key Features

• 3 Degrees of Freedom (X, Y, Z) Cartesian design
• NEMA 17 stepper motors with GT2 belt and lead screw transmission
• STM32 microcontroller for motion control (with PLC I/O interface)
• Modular and sturdy aluminum extrusion frame
• Compact gripper for object manipulation
• Detailed mechanical drawings and part sourcing

🖼️ Rendered Model

🔄 Multi-Angle Views (Front, Back, Left, Right)

Front View	Back View
Left Side	Right Side

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🔼 Top View

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📐 Isometric View (Best Render)

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🧩 Full Angle Composite View

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More views and photos are available in the Images/ folder.

🧾 Bill of Materials

Refer to Docs/Cartesian_Robot_BOM.pdf for full details.

Components Overview:

• Motors: 3 × NEMA 17 stepper motors
• Transmission: GT2 20T pulleys, belts, idlers, lead screws
• Guides: 8mm linear rods, T8 screws, 688 bearings
• Controller: STM32 Nucleo-F767ZI + PLC interface

💰 Total Estimated Cost: ~1137 PLN

📐 Technical Drawing

See Docs/pick_and_place_project.PDF for manufacturing layout, hole placements, and mechanical assembly references.

⚙️ Control System

• Microcontroller: STM32 Nucleo F767ZI
• I/O Expansion: PLC Shield (X-NUCLEO-PLC01A1)
• Motor drivers and sensor interfacing supported
• Programmed via STM32CubeIDE (or compatible IDEs)

🚀 Getting Started

📌 Note: All project files, including CAD, images, and documentation, are located in the master branch.
If you do not see the files in the main branch, please switch to the master branch on GitHub.

To clone and view this project:

git clone https://github.com/Mohammed-Shehsin/Cartesian_Robot_3D_Model.git
cd Cartesian_Robot_3D_Model

• Open project_v1_v6.f3d in Autodesk Fusion 360
• Browse Docs/ for drawings and parts
• Check Images/ for physical reference photos

👤 Author

Mohammed Shehsin Thamarachalil Abdulresak
Automation & Robotics Engineer
Poznan University of Technology

📄 License

This project is licensed under the MIT License.

🤝 Contributions

Contributions are welcome! If you have firmware updates, STL designs, or improvements, feel free to fork the repo and submit a pull request.