Giving Lenny a Job

I made a pen-holder to attach to the SCARA robot Z-axis shaft and used it to draw some hilbert curves. The python script to generate the gcode is pretty easy and I’ve put it in a github repository

Lenny the big dumb bot.

A couple years ago I bought an old IBM 7575 scara robot at a surplus auction. The mechanicals are really nice but the control was completely absent.  I started a conversion using a Mesa card and Machinekit.  I have no serious plans for this but wanted to learn ROS and maybe more about the FreeCAD…