# Frame The frame houses all the subsystems of the robot. This iteration of the structure is constructed with 2020 aluminum T-slot extrusion, laser cut 3/16" acrylic, and PLA 3d prints. It currently supports the [microscope module](/home/fab-toolkit/research-tools/2d-crystal-stacking-robot-wip/microscope-camera-module.md), [carousel](/home/fab-toolkit/research-tools/2d-crystal-stacking-robot-wip/carousel-module.md), and hardware version 3 of the [Open Micro-Manipulator](https://github.com/0x23/MicroManipulatorStepper). *This page is best viewed in **light** mode* {% hint style="info" %} The files and assembly instructions for the mounts of the Open Micro-Manipulator and glass slide can be separately found [here](/home/fab-toolkit/research-tools/2d-crystal-stacking-robot-wip/frame/mounts.md). {% endhint %} ## Assembly Instructions ### BOM {% hint style="info" %} Note that all .dxf files are given in **millimeters**, feel free to reference the files below or export them yourself through [this Onshape document](https://cad.onshape.com/documents/213930b67b04143c1c1a308d/w/406d1807662c0ce72d6a172c/e/1d344634cceeae2377c13b26) {% endhint %}

Part	Quantity	File	Link to Order
Top Plate (3/16" acrylic)	1		12"x24", 3/16" (5mm) Clear Acrylic Sheet Note that each plate (~14.6" x ~11.6") needs one of these whole sheets
Base Plate (3/16" acrylic)	1		12"x24", 3/16" (5mm) Clear Acrylic Sheet Note that each plate (~14.6" x ~11.6") needs one of these whole sheets
Gussets (3/16" acrylic)	20		12"x24", 3/16" (5mm) Clear Acrylic Sheet Gussets can be cut from excess acrylic left from the above plates
2020 T-slot Aluminum Extrusion (M5 Hardware) 7.068" Length	4		20x20 Aluminum Extrusion (Black Anodized) Note that Misumi offers lengths on intervals of 0.5mm, these will need to be machined to size
2020 T-slot Aluminum Extrusion (M5 Hardware) 14.598" Length	4		20x20 Aluminum Extrusion (Black Anodized) Note that Misumi offers lengths on intervals of 0.5mm, these will need to be machined to size
2020 T-slot Aluminum Extrusion (M5 Hardware) 10.000" Length	5		20x20 Aluminum Extrusion (Black Anodized) Note that Misumi offers lengths on intervals of 0.5mm, these will need to be machined to size
Microscope Extrusion Bracket	2	Please print with 100% infill, with the closed end of the bracket on the bed, more details on printing below	Bambu Lab PLA Basic
M5x0.8 Socket Head Bolts 10mm	138	N/A	Grainger Industrial Supply M5x0.8 10mm Black Oxide Bolts (100 count) Note that the screws are bought in counts of 100, two sets will need to be ordered
M5 Washers	138	N/A	Grainger Industrial Supply M5 Black Oxide Washers (100 count) Note that the washers are bought in counts of 100, two sets will need to be ordered
M5 2020 Extrusion Hammer T-Nuts	132	N/A	2020 Extrusion M5 Hammer Head Nuts (100 count) Note that the nuts are bought in counts of 100, two sets will need to be ordered

#### Additional Hardware for Mounting Subassemblies

Part	Quantity	File	Link to Order
M5x0.8 Socket Head Bolts 10mm	8	N/A	Grainger Industrial Supply M5x0.8 10mm Black Oxide Bolts (100 count) Note that the screws are bought in counts of 100, two sets will need to be ordered
M5 Washers	16	N/A	Grainger Industrial Supply M5 Black Oxide Washers (100 count) Note that the washers are bought in counts of 100, two sets will need to be ordered
M5x0.8 Hex Nuts	8	N/A	Grainger Industrial Supply M5x0.8 Nuts (100 count)
M3 Socket Head Bolts 12mm	2	N/A	550Pcs M3 Screw Metric Screw Assortment Note that this set contains washers, nuts, 12mm and 16mm bolts
M3 Socket Head Bolts 16mm	3	N/A	550Pcs M3 Screw Metric Screw Assortment Note that this set contains washers, nuts, 12mm and 16mm bolts
M3 Washers	5	N/A	550Pcs M3 Screw Metric Screw Assortment Note that this set contains washers, nuts, 12mm and 16mm bolts
M3 Nuts	2	N/A	550Pcs M3 Screw Metric Screw Assortment Note that this set contains washers, nuts, 12mm and 16mm bolts

### Assembling The Frame {% embed url="" %} {% stepper %} {% step %} ### Machine and Fabricate Parts #### Printing Brackets Make sure to print the mounts with **100% infill** and with the orientation specified below (add supports if your printer is not good at bridging)

#### Machining Extrusion Start with rough cuts the extrusion with a bandsaw, leaving 0.5" excess for facing. Mill and face the extrusion to the lengths specified in the drawing. {% file src="/files/RncMlica8ncgtNFyCeYu" %} #### Laser Cut Acrylic Ensure that your laser cutter is capable of cutting \~5mm acrylic and has proper ventilation. Cut the Gussets, Top Plate, and Base Plate
{% endstep %} {% step %} ### Assemble the Base Plate

Fasten the base plate to the **14.598" and 10" extrusion** as laid out above using the M5 bolts, washers, and hammer nuts. * Be careful not to overtighten the screws, even with the washers the acrylic can crack if subjected to enough force

Make sure to leave **4 hammer nuts** on **each of the outside faces** of both 10" extrusions to mount the upright extrusion later. {% endstep %} {% step %} ### Assemble the Top Plate

Fasten the base plate to the **14.598" and 10" extrusion** as laid out above using the M5 bolts, washers, and hammer nuts.

Make sure to leave **4 hammer nuts** on **each of the outside faces** of both 10" extrusions to mount the upright extrusion later and **4 hammer nuts** on each of the **top faces** of the 10" extrusion for reinforcing gussets. {% endstep %} {% step %} ### Fasten the Microscope Extrusion Take a piece of **10" extrusion** and add **2 hammer nuts** onto the top face and **3 hammer nuts** to one of the adjacent side faces {% hint style="info" %} If you are using the [Microscope Autofocus Stage](#fasten-the-microscope-extrusion), mount it to the extrusion now, otherwise leave the hammer nuts free to add the fixed microscope mount later {% endhint %}

Press fit the Microscope Extrusion Brackets into the same **10" extrusion** and screw them in with **2 M5 bolts**, **washers**, and **hammer nuts.** * Even with 100% infill, the PLA of the brackets can warp, make sure not to overtighten

Mount the entire microscope extrusion assembly to the top plate using **4 M5 bolts**, **washers**, and **hammer nuts.** {% hint style="info" %} Do you best to have the microscope extrusion assembly approximately to the left of the hole in the top plate, this positioning **should be adjusted later** to **center** the objective within the circle cut in the acrylic when the microscope is mounted {% endhint %}

Mount the gussets onto the top of the extrusion over the top assembly with the hammer nuts left in the extrusion, **16 M5 bolts** and **washers**, and an additional **8 hammer nuts** slid into the 14.598" extrusion. {% endstep %} {% step %} ### Combine the Top Assembly With the Bottom Assembly

Screw in **8 gussets** to the top plate assembly using the hammer nuts left in the 10" extrusion, an additional **8 hammer nuts** added into the 14.598" extrusion, and **16 M5 bolts** **and washers**.

Repeat these steps to add **8 gussets** to the bottom plate assembly using the hammer nuts left in the 10" extrusion, an additional **8 hammer nuts** added into the 14.598" extrusion, and **16 M5 bolts** **and washers**.

Fasten 4 pieces of **7.068"** extrusion to the gussets on the bottom plate using **16 M5 bolts**, **washers**, and **hammer nuts**.

Add 2 hammer nuts to each of the slots on the outer faces of the 7.068" extrusion, totaling to **16 hammer nuts.**

Fasten the top plate assembly to the height extrusion using the previously embedded hammer nuts and **16 M5 bolts and washers**.

This should be your finished product! :tada: {% endstep %} {% step %} ### Add in Mounts and Carousel Follow the instructions here to create the [nanopositioner mount](/home/fab-toolkit/research-tools/2d-crystal-stacking-robot-wip/frame/mounts.md), [slide mount](/home/fab-toolkit/research-tools/2d-crystal-stacking-robot-wip/frame/mounts.md), [chip return stage](/home/fab-toolkit/research-tools/2d-crystal-stacking-robot-wip/carousel-module/chip-return-stage.md) and the instructions [here to create the carousel](/home/fab-toolkit/research-tools/2d-crystal-stacking-robot-wip/carousel-module.md).

Mount the nanopositioner and carousel to the base plate using **8 M5 bolts, nuts and washers** * Have one washer between the socket head and the 3D printed mounts, the other waser between the acrylic base plate and the nut

Fasten the slide mount through it's threaded inserts with **3 16mm M3 bolts and washers**. Fix the slide return stage using **2 12mm M3 bolts, washers, and nuts**. {% endstep %} {% endstepper %} ### Finished Product

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