machineagency / jubilee

jubilee source files; for the docs, see:

Jubilee V2.2.2

Jubilee is an open-source, extensible multi-tool motion platform capable of running GCode for non-loadbearing automation applications.

Out-of-the-box, Jubilee is configured for multimaterial 3D printing and multicolor pen plotting, but we've had success with light liquid-handling and image stitching applications too.

While this repository contains all the design-related content needed to build a Jubilee, we suggest using the Wiki to navigate through this "file soup."

Top-Level Specs

• Automatic Toolchanging compatible with E3D tool plates
• CoreXY Motion System
• 300x300x300 build volume.
• 409mm of horizontal tool rack space
• kinematically coupled bed plate
• autotramming with 3-point bed-leveling
• ~$1350 for a single unit, not including tools. See the BOM for the part breakdown
• User Extensible! We encourage extending the design to custom applications via custom tools and bed plates
• Full specs listed on this wiki page

Build your own Jubilee

The best way to get started is to thumb through the Assembly Instructions and Bill of Materials first.

Then head over to the Wiki to start gathering tools and deciding which parts to buy and which parts to make.

Downloading

There are 3 ways to work with the Jubilee source files: with and without history.

• To download the latest stable release without history, head to the Releases page and download the latest release.
• To download the latest stable release with history and track updates, clone the project with the "Code" button above and switch to the corresponding branch.
• To download the latest stable release with history and submit additions back to the main project, create a "Fork" of the project with the button in the upper right. Then switch to the corresponding release branch in your fork of the project.

Repository Contents

The Repository is broken into three main chunks:

• frame contains all design content related to the Jubilee frame
• tools contains all design content related to custom tools and tools to help assemble and tune Jubilee
• software holds both the Duet config files and profile settings for common slicer packages

inside these folders, you'll usually find a folder structure that looks like this:

• assembly_instructions contains PDFs to take you step-by-step through sub-assemblies of the project.
• cads contains raw design files in two formats
  • Solidworks
  • STEP
• fabrication_exports contains STLs, DXFs, and other files used to fabricate pieces of Jubilee

Support

Have questions? Building your own Jubilee? Join the Discord!

Contributing

Jubilee is meant to be extended by the community. If you are interested in contributing, there are a number of ways to get involved:

• Review, comment, or add to the open issues
• Have a new tool to add to the repository? Read our contributing guidlelines and create a pull request
• Join the Discord!

Who are we?

Jubilee was designed with love by Joshua Vasquez of Machine Agency at the University of Washington.

Press and Outside Resources

Read more about the history of Jubilee on Hackaday, or, for the patient, check out this (1hr) talk given in Jan 2020. For more community takes, have a look at:

• Hackster.io
• 3D Distributed
  • Best CoreXY 3D Printers 2020
  • Best CoreXY 3D Printers 2021
• All3DP
• 3D Printing Today

Open Source

Jubilee is licensed under a Creative Commons Attribution 4.0 Unported License (CC BY 4.0). and Certified Open Source Hardware.

jubilee's Issues

First Layer Extrusion does not start Extruding immediately

The toolchange script does a slight retraction before moving over the print bed to resume printing. In cases past the first layer, this is fine since the slicer can be set to retract before parking the tool and unretract upon reselecting that tool. However, for the first layer, this situation doesn't happen since the slicer doesn't think that the tool was previously retracted.

One fix is to do a purge line per tool at the start of the first layer. These purge lines would need to be offset spatially such that they don't interfere with each other.

There may be another way to handle this issue by rewriting our toolchange scripts to not include any retraction.

discord study irb

BOM Ideas

There is some confusion when it comes to the BOM, with the BOM on multiple pages it can lead to multiple orders from the same vendor. Also the BOM could use more clarity for what you need for each tool (For example how many dowels you need based on how many tools you want)

One suggestion is to set the BOM up so that the tools can be listed in with the main page with each vendor.

This however is not a universal solution for all the different types of machines. A base BOM could be created that will provide links to specific BOMS, (Printer, Pens, Cameras ect)

Repo File Structure Re-Org

As-is, it's a little confusing to step through what's present in the Jubilee repository.

There are 2-3ish main chunks of the project.

• the frame (or "motion system")
  • upgrades to the frame
• the tools

Right now, everything is organized by "file type," not by "subassembly type." In other words, you'll find CADs for the frame and all tools in the CADs folder; you'll find STLs for the frame and tool bits in the fabrication_exports folder, etc.

The result is that it's hard to build on top of this structure by, let's say, adding a new tool.

The wiki is meant to make this folder structure a bit easier to navigate with links, but it's still tricky.

Long-term, I think it makes sense to organize things by "subassembly type," not "file type."

Build plate assembly instructions: bed orientation is missing

Sheet 4 of 13 is missing an annotation to indicate bed orientation (see example), which could prevent some users from erroneously installing the M3 screws on the wrong side.

E-clip of the BOM doesn't fit the machined twist lock

The E-clip of the BOM McMaster Carr 98543A103 is suppose to fite in a ⌀3.2 and the fabrication plan of the twist lock has a grove of ⌀4

Lower Frame Assembly instructions - both Front Z Plate Assemblies

Lower Frame Assembly instructions, Sheet 8 of 14, Front Left Z Plate Assembly 2
and Sheet 10 of 14, Front Right Z Plate Assembly 2

Specify where to put the dab of threadlock.
Add note/image that wires go in direction of slot on plate.

Detail Views are wrong in CoreXY instructions

Swap Drop-in T Nuts for Slide-in T Nuts

This was a great suggestion from Bryan on the Discord voice chat.

Since Drop-in T Nuts are a bit tricky to align, replacing them with Slide-in T Nuts would make the assembly process easier.

They're also pretty cheap on amazon. The caveat is that the order-of assembly in the CoreXY instructions would need to change.

Physical Wire Mapping to Back Panel

Another good catch from Miasmictruth on Discord during the livestream build session.

The wires could be tagged somehow during the mechanical assembly step to help make the back panel wiring in a later step easier.

Detached Explode Lines

Another good catch from Miasmictruth on Discord during the livestream build session.

Pic says it all. Those lines should be attached to the CoreXY frame

Suggestion for auto tool offset and autotraming.

I went trough the design and I have a suggestion for an autolevel that would detect the offset of any tool and tram the buildplate.

Using a dummy tool with only a PrecisionPiezo and a known length from the anchoring point of the toolchanger to the dummy "nozzle" one can tram the bed and set Z to 0.

Using a microswitch sensor on a platform controlled by a stepper and a lead screw, one can set the height difference between the known dummy tool and any other tool.
The toolchanger in the startup routine can change Z to the small leveling platform, Home Z with the dummy by raising the platform until it hits the microswitch. Next, changing the tools, it can set the offset for each and every tool with M585.

It can then lastly home and tram the real bed with individual lead screws.

Perfect for changing nozzles. Only the X/Y offset has to be known.

I considered another Piezo for the platform but they are too sensitive to Z movement.

CoreXY Frame Assembly Instructions: Toolchanger Locking Mechanism Items

Assembling the spring guides and sheath before running wire rope through the spring guides.
Run two 600mm spring guides through nylon sheath (1/8" was used and worked).
Leave 25 mm of spring guide exposed on the carriage end and 55 mm of spring guide exposed on lock actuator end.
Ensure spring guides are even on each end.
Use adhesive lined shrink tubing is used to affix sheath to spring guide.

Spring guide anchor block not listed - very useful for managing spring guides without a third hand.

See Jubilee Day 21 Livestream @ 1:40

Inconsistent Tool Pickup

It's possible (and actually quite likely with all revisions of Jubilee so far) that the tool can be picked off the parking post in such a way that doesn't properly lock the tool into the carriage. This is because the twist lock can cause the entire to tool to twist if it snags in the wedge before pulling it into the coupling. The result is that the tool balls don't seat against the pins and are instead constrained by the wedge.

Diagnosis:

This issue is nefarious as it can be hard to track down without an upward-pointing webcam

• Monochrome prints look perfect, but multicolor prints look like they have inconsistent extrusion issues.
• The tool may physically "jiggle" in the carriage if you try to wiggle it with your hands. However, subsequent pickups may or may not jiggle.

Possible Fixes

There are a number of ways to fix this problem:

• stiffer spring (+ possibly a stronger motor)
  • this would overpower the twist applied to the tool and eventually get it to seat properly into the coupling.
  • this fix can be tried by shortening the current length of the spring a few mm. 103.5-to-104mm instead of 106.5mm
• better parking post
  • this would prevent the current tool from twisting as it is being picked up.
• better tool constraint upon tool pickup
  • when the tool is picked up, something could physically prevent the tool from twisting upon pickup.
    • This could simply be a parking post that prevents twist.
    • This could also be some external nesting force (spring, opposing magnets) that pushes on the tool as it is being picked up.
• smoother Wedge Plates
  • this would prevent the tool from snagging on the wedge plate and twisting as it is being picked up.
• (Other suggestions welcome!)

I'm opting to start with the second option. The current parking post is admittedly pretty crappy in that it's basically a giant pivot point

Groovemount Extruder plate interferes with fan shroud.

For folks with V6 hotends, the extruder cannot be height-adjusted without hitting the fan shroud.

(Image from @sunkcost on Discord.)

Motor Plate Assembly missing screw sizes

sheet 6 and 7.

Crossbar Keep Nuts Wiggle when installed improperly

The crossbar's Keep Nuts require an axial pull-out force to get their teeth to properly engage. Otherwise, shoulder screws attached to them will wiggle.

The easiest fix for this is to simply screw in an M4 screw with a stack of washers into the Keep Nut with a sufficient amount of torque such that the teeth engage; then, remove the M4 screw and washer stack and resume normal assembly. This needs to be added to the instructions.

Where is the Top Lock Actuator Plate?

In the assembly instructions (page 2 of toolchanger_lock_assembly_instructions.pdf), it says a "Top Lock Actuator Plate" is needed. There is no such part in the list of 3d printed parts. The closest thing I can find is the "Lock Actuator Base Plate", which is referenced on the following page and does in fact exist in the list of 3d printed parts.

The image of the Top Lock Actuator Plate does not match the 3d model, but the model does match the Lock Actuator Base Plate on the following page. In the first case, there are 2 more holes and 2 slots in the side of the part, which don't exist on the next page, or the 3d model. Am I to assume these are in fact the same part, and those holes/slots are not necessary?

Jubilee's Bed plate (with BuildTak) takes ~5-to-8 minutes to finish thermally expanding

Although the silicone heater can reach 60C from ambient in about 1 minute, the combined thermal mass of the aluminum bed and the Buildtak magnetic plate take about 5 minutes to finish thermally expanding. During this time, the printer will expand vertically about 0.1mm--enough to make-or-break a first layer.

If the machine is zeroed while the bed is cool and the print is started before the machine has finished thermally expanding, the first layer risks ripping as the bed-to-nozzle distance will eventually become too close to the bed.

A first pass at fixing this issue would be to zero the Z height at the start of the print after bed has reached temperature. However, since the sensor is on the underside of the machine, this does not provide an accurate estimate of the temperature of the entire plate at steady state.

A slightly-better fix would be to decrease the thermal mass of the aluminum bed plate. This fix is being tested now as a future revision of the Jubilee bed plate will feature magnets embedded in the build plate. This updated plate will remove the added thermal mass of the Buildtak magnetic surface.

Another slightly-better solution would be to measure the temperature closer to the print surface. The Railcore bed plate puts the bed sensor in a pocket on the top of the build plate, not the bottom. Jubilee could adopt this solution.

For now, the surefire way to work with this issue is to (1) heat the bed, (2) wait 5 minutes, (3) zero the z and begin printing.

This issue will get an update as soon as the new beds with smaller thermal mass are tested.

Duet 2 Electronics Panel Assembly Instructions

Sheet 5: Change Item #6 name (Solid State Relay)

"Parts with Inserts" missing some components

Noticed that the Tool Lock Pulley is missing from these instructions.

TEST ISSUE

Extruder Nozzle does not extend below tool plate

I think this picture pretty much sums it up:

I know it would be pretty easy for me to design an adaptor for this, but I figured I'd put something here since these are the parts listed on the BOM

Lower Frame Assembly instructions - Z Plate Tightening

Lower Frame Assembly instructions, sheet 13 of 14, Z Plate Tightening

Add dimensions for correct placement of back Z plate using a ruler. 15.5cm from edge of plate to inside edge of side extrusion.

Outer Frame Assembly and Alignment Instructions

Sheet 11: typo
in the approximate locations as shown, just so they do not fall out.

Can the view be flipped so it's easier to see where the brackets are?

Duet 2 Electronics Panel Assembly

Image for sheet 3:

Outer Frame Assembly and Alignment Instructions

Sheet 5: We forgot the middle 2 brackets on the 409 mm TSlot Extrusion and had to pull apart the assembly to put them in. Add an item no. at the bottom of the sheet so they are not forgotten.

Lower Frame Assembly instructions - Internal Extrusion Alignment

Lower Frame Assembly instructions, Sheet 11 of 14, Internal Extrusion Alignment

Specify to slide in the 2 inside corner brackets that are included in the diagram but not mentioned anywhere until the next page.

Point out that the corner brackets slide into the inside of the back Z plate.

Config files for OMC/StepperOnline 5:1 planetary motors need to be updated

Currently the steps per mm for the toolchanger locking mechanism is set to the LDO variant. The OMC variant should have a different steps per mm listed as an option for ease of configuration setup as per the BOM.

The correct steps per mm would be 11.429 for an OMC stepper, and the relevant M92 command should be reflecting this option.

Left motor plate assembly: stepper is missing from parts list

Left motor plate assembly instructions 3/3 (1/29/2020: sheet 7 of 11) is missing a reference to the stepper motor w/ drive pulley.

Toolchanger Lock Actuator Assembly sheet 1 of 15

Toolchanger Lock Actuator Assembly
sheet 1 of 15
Update image

Bring Back the Spring Guide Anchor Block

It's here if anyone's looking for it now, but it needs to be added back into the CAD files and the assembly instructions.

Duet 2 Electronics Panel Assembly

Update back panel image (it is outdated--some new slots have been added)

Lower Frame Assembly instructions - Back Z Motor Plate Assembly 2

Lower Frame Assembly instructions, sheet 6 of 14, Back Z Motor Plate Assembly 2

Add note that says which direction the wires on the motor go (if it matters).
Specify to put the dab of threadlock on the tip threads of the screws.

Remove Tool Post Installation from CoreXY Instructions

This was a good suggestion from Miasmictruth on Discord during his livestream build session.

Currently, the instructions call for installing two extruder parking posts on the CoreXY Frame. Since these posts are tool-specific, it doesn't make sense to ask people to install them at this point.

Toolchanger Lock Assembly Instructions Need Shim and Pics

The current state of these instructions is very confusing at the last section since the second half of the instructions use V1 pics.

STL exported in wrong orientation

Those four holes should be flush with the bottom of the plate.

Carriage Pulley missing in the insert instructions

In the new heat-set insert instructions, the carriage pulley is missing.

Z Homing switch easily damaged

Any single event that causes Z to not immediately stop will destroy the switch. These events may occur during initial commissioning, or during regular operation.

I'm on my 7th replacement Z homing switch

Warping Extruder Tool Plates

It's unclear whether this is coming from the hotend or the bed, but the excess radiated heat is causing these to warp over time.

They seem to settle after a bit which is why I never noticed this and probably just recalibrated the heads months ago.

These are made from PLA by default. I will start by giving these a go in PETG.

Outer Frame Assembly and Alignment Instructions

Sheet 2: We had some confusion on which way the brackets go in. Include a statement that says that the interior inside corner brackets are directional, and they go on the 604 mm TSlot Extrusion first

Toolchanger Lock Actuator Assembly 2 of 15

Toolchanger Lock Actuator Assembly, sheet 2 of 15, Part Inspection

Update image image of top lock actuator plate

Outer Frame Assembly and Instructions

Sheet 6 of 11: We found it easier to slide the L brackets onto the shorter 409 mm TSlot Extrusions first, keeping in mind the direction of the L brackets. Then slide all 4 onto the 604mm long extrusions.

Also circled the two middle L brackets that we forgot again.

current Parking Post design does not constrain twist

The current parking post design doesn't constrain the twist direction.

See video.

This is an issue because the carriage twist lock will attempt to twist the extruder while pulling it in. If the tool does happen to also twist with the twist lock, it will lock incorrectly.

This issue is also connected to the reciprocal parking features on the tool geometry as well. The two grooves on the tool itself (used for the parking pins) do not constrain twist for small angles. This is because the Delrin Compression Flexure is flexible and allows for some vertical play, which is used as a leaf spring to compress the tool. Even with a perfectly rigid tool post, the problem remains that this geometry allows for some slight twist wiggle. To fix this problem for good, these squishy parts need to go.

I'll get to work drafting some new left and right parking wing designs for the extruders that use O-rings instead of the Delrin bits to hold the tool in place and prevent it from sliding out when the carriage retracts.

This issue is related to #43
Fixing it though may actually fix the related issue also. Fingers crossed!

All STL files should be in Binary format

It turns out that Github displays binary-style STLs with a direct "download" button, while ASCII-style STLs do not have this option and only display the "Raw" button. Given that there's no reason to want to modify the STL files directly, we should swap all STL files still in ASCII format to binary format so that this download button shows up, making it easier for people to download-and-print parts individually.

Default tool size limits maximum bed size to 290 in Y

This picture says it all.

https://media.discordapp.net/attachments/627988602269335568/639674827103273000/IMG_0850.jpeg?width=893&height=670

Essentially, the default tool's thickness limits the print area in the y direction to about 290mm in a multitool printing setup.

BOM - Part numbers w/ ver. Embed part number in printed parts

Include a field in the BOM for part numbers
Part identifier should reference the assembly the part is used in
Part numbers should have version reference
Engrave/emboss part number in printed parts so when printed part number is visible
Add part numbers to machined parts - fabricator may determine best method for marking of part (laser etch, stamped, machined, etc.)

Outer Frame Assembly and Instructions

Generally, we'd like the upper and lower frames to be called out more consistently. For example on sheet 8, it is called prior frame and loose frame, but at the bottom it is called upper and lower frame.

Possibility to add a universal disconnect system to make tools quick swappable

How hard would it be to add a disconnect to allow a tool to be unplugged, and then another to be plugged in its place? into the same port even. maybe using a plug like this to allow some high current pins (heaters, laser cutter) and plenty of low current pins for thermistors and sensors https://www.molex.com/molex/family/ten60_form.jsp

Belts are Slightly Non-Coplanar

Both the printed pulley spacers and the carriage back plate raise the belt out-of-plane, putting both of them at a slight angle. During the assembly, this issue can be corrected by eyeballing the parts into the right spot, but it would help if the nominal location were correct....