Home robot built on my CNC X3 mill. It's built like a CNC machine! 2 steppers for the drive wheels, 3 steppers for the vertical actuators using 3/8-12 lead screws.
Vertical saddles for the arm and center tablet computer were machines out of Delrin and ABS plastic. I was able to hold 1 thou tolerance on some saddle parts out of Delrin using Mach backlash comp and the CNCFusion deluxe conversion kit.
Aluminum extrusion were also machined on the X3 mill.
Motor drivers are a custom board using 3 amp bipolar 7128 ICs from
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Stepper controller is an Arduino Mega board. Stepper ICs for drive wheel are in 1/128 step mode for low vibration and noise. To generate the 100KHz step signals I used hardware timers on the Arduino. Using the timer registers allowed me to "set and forget".
I entered the robot into an Instructables contest sponsored by Jack Daniel's:
A Robot In Our Homes
Enjoy!
Danh