Assembly

PhysiClaw’s hardware uses a CoreXY motion system. Two motors working in tandem drive the gantry, and a solenoid drives the stylus tip on Z to tap. The whole assembly takes about three hours.

The assembly manual has the complete, clear steps. Read it online or download the PDF. To inspect the fully assembled rig, download the 3D assembly model (STEP); it needs a 3D app to open, and FreeCAD is free, open-source and cross-platform. Before you start, browse the hardware gallery to get a feel for the whole rig, or watch the demo video to see it in action; the assembly video walks through the whole build.

Open the assembly manual The assembly manual, on the web.

Download the PDF The assembly manual, as a printable PDF.

Assembly video The complete 3.5-hour assembly video.

Hardware gallery Photos of the finished, assembled PhysiClaw hardware.

A few things to get right during assembly

The manual covers these, but they’re worth emphasizing:

• Earth-ground the stylus tip: connect it to bare metal on the back of a grounded PC chassis, never a wall socket, never the board GND.
• Position the camera: open your system’s built-in webcam preview and confirm the phone screen sits flat in frame, fills as much of it as possible, with no tilt or distortion.
• Keep A/B belt tension equal: mismatched tension makes the arm move inaccurately.
• Lock down the motor pulleys: apply threadlocker (blue, removable) to the set screws. The motors constantly reverse, and the repeated direction changes can work the screws loose. Once a pulley slips, motion starts to drift.