Kossel
Release status: experimental
Kossel is a parametric delta robot 3D printer, built in 2012 by Johann in Seattle, USA, based on his Rostock prototype.
It is named after Albrecht Kossel, German biochemist and pioneer in the study of genetics. He was awarded the Nobel Prize for Physiology or Medicine in 1910 for his work in determining the chemical composition of nucleic acids, the genetic substance of biological cells.
Design Goals
- Build volume: cylindrical, 170mm diameter, 250mm height.
- Footprint: triangle, 300 mm width (240mm OpenBeam + printed corners).
- Frame height: 600mm.
- Print surface: round glass, doesn't move.
- Mass of end effector with hotend: less than 50 grams.
- Positioning speed: up to 200 mm/s in all 3 directions.
- Positioning accuracy: at least 100 steps/mm in all 3 directions.
- Simplicity: fewer than 200 parts.
- Hardware cost: less than $500 USD.
Bill of Materials
Printed parts:
- 3x Bottom vertex
- 3x Top vertex
- 3x Vertical carriage
- 3x Endstop holder
- 3x Print surface holder
- 1x End effector
- 1x Retractable Z probe
- 2x Power supply bracket
Frame:
- 3x 600mm vertical OpenBeam or Misumi HFS3-1515
- 9x 240mm horizontal OpenBeam or Misumi HFS3-1515
- 100x M3x8mm stainless steel screws
- 100x M3 stainless steel nuts
- 100x M3 nyloc nuts
- 1x Borosilicate glass print surface with 170mm diameter
Linear motion:
- 3x 400mm hardened steel rail and carriages HIWIN MGN-12H
- 3x 1164mm GT2 belt closed loop with 2mm pitch and 6mm width
- 6x F623ZZ flanged bearings 3x10x4mm
- 3x GT2 pulley with 16 teeth and 2mm pitch
- 3x Kysan NEMA17 stepper motor
Diagonal push rods:
- 12x Traxxas 5347 rod ends
- 12x M4x20mm set screws
- 6x 180mm Carbon tube ID=4mm
Bowden:
- 1x Clear PFA tubing ID=2mm OD=4mm
- 2x Push fit connector
Endstops:
- 4x Omron SS-5 micro switch or Honeywell ZM10B10A01
- 10x M2.5x12mm screws for micro switches
Electronics:
Links
- Project blog on Tumblr
- Pictures on Flickr
- Mailing list for questions and answers
- OpenSCAD source files on GitHub for printed plastic parts.
- Modified Marlin firmware on GitHub for delta geometry on Arduino.
- Frame size calculator spreadsheet.
