assembler0-hardware

Assembler0 Hardware

Hardware designs and CAD files for the Assembler 0 robotics platform.

Overview

This package contains 3D-printable parts and CAD files for the robotic hardware components, including a screwdriver attachment and camera mount for the Koch robotic arm.

SO101 Based Screwdriver Follower

3D Printable Parts (stl/)

• stl/so101_screwdriver_bit_holder.stl - Screwdriver magnetic bit holder
• stl/sos101_screwdriver_wrist_roll.stl - Modified wrist roll with claw removed
• stl/so101_hex_nut_camera_mount.stl - Camera mount

SCAD Files (scad/)

• scad/so101_screwdriver_bit_holder.scad - Screwdriver magnetic bit holder design
• scad/sos101_screwdriver_wrist_roll_with_camera_mount.scad - Modified wrist roll and camera mount design

Instructions

1. Print the following parts together. Enable supports, and add outer brim of 5mm:
   • stl/sos101_screwdriver_wrist_roll.stl
   • so101_hex_nut_camera_mount.stl - Orientate sideways
2. Print the screwdriver bit holder by itself. This part involves embedding the magnets (see BOM below for magnet details)
   • Part stl/so101_screwdriver_bit_holder.stl
   • Add a pause point at the top of the inner cavity
   • Place four magnets inside the cavity. For the Koch screwdriver bit holder we used five magnets. The the base plate of the SO101 bit holder is a bit thicker because we need to make room for the head of the screw on the motor attachment, this extra distance causes the magnets to want to stick more to the printer extruder nozzle than the bed so we need to leave some extra room.
   • Resume printing

SO101 Based Screwdriver Leader

Demo video https://x.com/jackvial89/status/1962245846872789446

3D Printable Parts (stl/)

• stl/SO101_screwdriver_leader_wrist_roll_with_handle.stl
• stl/SO101_screwdriver_leader_trigger.stl

SCAD Files (scad/)

• scad/SO101_screwdriver_leader_parts.scad

Alex Koch Based Screwdriver and Magnetic Gripper Arm

3D Printable Parts (stl/)

• koch_screwdriver_bit_holder.stl - Ready-to-print screwdriver bit holder
• screwdriver_servo_holder_with_camera_mount_v1.2.stl - Servo holder with camera mount
• magnetic_follower_gripper_static_v4.stl - Magnetic gripper attachment
• Additional gripper variants and parts

SCAD Files (scad/)

• koch_screwdriver_bit_holder.scad - Screwdriver bit holder design
• magnetic_follower_gripper_static.scad - Magnetic gripper attachment
• modified_follower_gripper_static.scad - Modified gripper variant
• screwdriver_servo_holder_with_camera_mount.scad - Servo holder with camera mount

Instructions

1. Position both parts on the print bed:
   • stl/screwdriver_servo_holder_with_camera_mount_v1.2.stl
   • stl/koch_screwdriver_bit_holder.stl
2. In your slicer (e.g. Bamboo Studio for the X1-Carbon) add a pause at the top of the magnet cavity.
   See this tutorial: https://www.youtube.com/watch?v=SBewgnA0Z2s
3. When the print pauses, insert a stack of 5 magnets into the cavity.
4. Resume printing.

Common BOM and Notes

Bill of Materials

• SVPRO 5MP 30FPS USB Camera
  • $53.99 on Amazon
• 6 mm diameter × 2 mm height neodymium magnets — 5 pcs
  • $5.99 for 50 on Amazon*

Video Demo

Watch the demo on YouTube

Installation

This package is part of the Assembler 0 monorepo. Please see the main repository README for setup instructions:

• Clone the repository
• Install UV package manager
• Set up virtual environment
• Install all dependencies with uv sync

Usage

The hardware files can be used directly for 3D printing or modified using OpenSCAD for the .scad files.

Contributing

PR's are welcome.

Development

• Download and install OpenSCAD . It's recommended to install nightly release, there have been a boat load of performance and other improvements since the last stable release. See OpenSCAD next release notes for more details
• Install the [OpenSCAD LSP](https://github.com/Leathong/openscad-LSP and IDE extension) for syntax highlighting and code formatting

Citation

If you want, you can cite this work with:

@misc{vial2025assembler0,
  title={Assembler 0: A Low Cost Assembly Robot},
  author={Vial, Jack},
  year={2025},
  howpublished={\url{https://github.com/jackvial/assembler0}},
  note={A low cost assembly robot}
}