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 two to 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 model. 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.

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

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

3D assembly model (STEP) The assembled-rig STEP file. View it in a 3D app.

Hardware gallery Photos of the finished, assembled PhysiClaw hardware.

No CAD app?

The 3D assembly model is a .step file and needs a 3D app to open. We recommend FreeCAD, which is free, open-source, and cross-platform.

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.