Lego RepStrap

Two Axis Platform

• This is the most compact sturdy two axis platform I have been able to make. It is still not perfect and suffers from some (fairly minor) lash-back problems, but hopefully I will get round to re-designing it soon.

• As all the gearing is in the centre, any size of platform can be built around this central structure.

The worm gear is completely covered in vaseline, which makes it run much smoother.

Two Axis Platform Build Instructions

These CAD models were created in MLCad running under WINE in Linux.

Electronics & Motors

I am using generation one (PIC) electronics and some small stepper motors that have been modified to work with lego.