Arduino Controlled Crane V1

My friend and I made a controllable crane with 3 ranges of motion. The carriage can extend and retract along the length of the lead screw, the hook can be lowered and raised, and the entire top subassembly can pivot 360 degrees. This is the first version, and suggestions are welcomed. Originally, we wanted to use an ESP32 and control this with a Bluetooth controller, but we ran out of time and ended up using buttons on a breadboard. This was NOT an individual effort, and took us both about 12 weeks to design, manufacture, test, and finalize everything. There don't seem to be too many resources for something like this so hopefully this helps someone out!

We printed everything on a Prusa XL, except for the small things which were printed on a Prusa MK4. The base was machined on a HAAS VF2, but frankly it could be done on a small desktop router, or even a manual mill. All our models are attached as .stl files. NOTE: I attached the Base as both a .stl and a .ipt since we used Inventor CAM for it, and I don't know how well CAM likes .stl files.

The 1st thing to really do is 3D print everything. Once everything is printed I recommend installing all the heat set inserts right away. We used M3. There are 8 total inserts: 4 on the top of the upright truss, and 4 on the counterweight side of the cube to screw in the cover (these are optional, really just for aesthetics).

With NEMA 17 motors, the standard fasteners are M3. On the bottom of the cube, there are 4 counterbored clearance holes to screw in to the motor. It is also at this point you should press fit the key onto the shaft. We used several different lengths of socket head cap screws for this project, so I don't know the exact length of the screws we used for these holes. There are also holes for this in the motor mount. Same story. The BYJ stepper (the one on the carriage) we also used M3s, but those are clearance holes so there is a nut fastened on the other side of each screw. NOTE: press fit the pulley onto the motor shaft AS YOU INSERT THE MOTOR INTO THE CARRIAGE (or edit the carriage model to remove the back wall, that's what I should've done in retrospect)

Not too much to say here, everything is fastened with M3 EXCEPT THE BASE which is fastened with with 1/4-20 bolts. I added a screenshot of the Inventor assembly (doesn't include fasteners, motors, or the bearing). The bearing is sandwiched between the upright truss and the cube, fastened with M3s (and M3 nuts on the cube side). The payload gets attached to the lead screw nut. Ours was threaded to, guess what, M3. If yours isn't M3, you will likely have to change the design of the carriage. NOTE: due to an oversight, only one M3 screw is required to mount the carriage to the lead screw nut (the other will not fit).

I attached our wiring diagram (ik its kinda boof), stepper driver settings, and our pin map. I also put a picture of the power supply we used. We ran it at 24V.

Nothing really to say here :)