RepRap: Blog

PIKA Is the proposed V0.05 XY Stage for RepRapMicron, and with luck will replace the V0.04 design. I've just updated maus_pika.scad on github, and have reasonable expectations that it should work. This isn't a beautification exercise, there are a number of important milestones wrapped up in it.

First, it's print in-place. This means less fiddling around to put a RepRapMicron together, which makes it more accessible to anyone who cares the make one. That's an important milestone, because it marks the point where μRepRap stops becoming a collection of prototyped Metriccano parts standing in close formation and starts to become an actual complete design. Much less of the mechanism relies an manual alignment and levelling because it's all printed in the right place.

Another issue is stability. Because there aren't so many fasteners, things that should have been linked before can now be joined up. They weren't linked earlier because adding all the fasteners would have taken up too much space and added far too much complexity. Look at the structure below:

Each set of axis flexures are all rigidly linked at the top and at the bottom. This reduces the tendency for the axes to twist when taken to their extremes of movement. The Z Axis Driver is integral to the XY framework, removing the need for a base board. Extra adjustable brackets are not needed to join the Axis Drivers to the axes. Every step there is one less thing to go wrong.

And finally, not only is this going to be easier to assemble, but it's going to be easier to remove the Axis Drivers from the main framework, which means it is going to be easier to transport without the weight of the Axis Drivers distorting or breaking the frame. In theory, if you screw it all together at the destination, you won't need to realign anything.

There are some disadvantages: If I need to make a change or break a flexure, I have to print out a whole new framework, much as per the old prototyping days on the OpenFlexure microscope. The framework will take about 12 hours to print, which is quite a bit. But hopefully the last couple of years of prototyping will have paid off though, and there won't be too much of that going on. Fingers crossed. 

I roughed up a model of PIKA with V0.05 Axis Drivers positioned in the appropriate places:

There's a couple of things that have become apparent. First off it needs to be quite large. In the model shown, the outside box bit is 130mm on a side due to current design needs: There's a minimum size of flexures and beams, and the platform in the middle needs to be 40mm across so that bed levelling screws are adjustable by mere mortals.

This is certainly no show-stopper. It'll still be well within the realms of a modest 3D printer to fabricate. But I was hoping for something a bit more petite. So it goes.

The second thing is that the size requires me to change the Motor Pillars on the Axis Drivers. Again, a trivial change, but I'd hoped to avoid it. My apologies to those who have already printed them. On the plus side they're not *that* hard to print and replace. Price of progress, I guess. I'll try to keep them shaped to fit the V0.04 frame.

Now I have an idea of where things are going to be mounted, I can start designing linkages between the axes and the Axis Drivers, and adding mounting points to the PIKA frame. Then I might print one and see what goes wrong.

Should I shift PIKA stuff to a new directory, separate from the existing MAUS stuff?

So here's what RepRapMicron stuff I've been working on. This is a replacement for the XY Table that prints in place. No support, no fasteners. In theory...

 

You might recognise it from a prototype I made in TinkerCAD. The two big differences here are that this is an actual parametric model, and the lower framework that holds the X axis has staggered flexure pairs to make it more compact.

This is gloriously unfinished. I have to work in the X & Y drive flexures, devise a sane way of attaching the Stage to the top in a way that allows it to be levelled, and add framework to attach the X & Y Axis Drivers (possibly Z and microscopes too), and make a base to lift the flexures off the ground. Probably going to integrate the Y drive flexure into the Stage for now, much like the X is done on Maus.

I've put the OpenSCAD files up on github in maus_pika.scad

Also, now I have the RepRapMicron repaired after the flight back, I can start playing with Siddharth's joystick code. As soon as I get back from a brief stay in Wellington. Damn it's busy. 

I'm releasing the source for the latest Z Axis parts on github. I've put the STLs with links to the source here on Printables.

These should work with the instructions updates from the previous post. Haven't updated the probe etching yet. Working on it.

I'm changing a few things on the Z Axis. The flexures are a bit thicker, and the Probe Arm Assembly has been modified to make it easier to assemble. I started doing assembly instructions on the github wiki and found I was expecting a bit much of people's assembly technique. Will ping the blog when it's all uploaded. Then I should probably start updating the probe etching docs, unless anyone haz requirements?

 

Currently on hold because someone has borrowed my phone/camera to sort out their booking during an Air New Zealand strike. 

 

EDIT: Instructions now done on https://github.com/VikOlliver/RepRapMicron/wiki/Probe-Z-Axis-Construction

There are some interesting goings on at UPenn/UMich. They have created small autonomous mobile robots sized at 200 by 300 by 50 microns. There is an onboard CPU, solar panels and a propulsion system. Admittedly it is a press release based article but the claim is: "the world’s smallest fully programmable, autonomous robots: microscopic swimming machines that can independently sense and respond to their surroundings, operate for months and cost just a penny each"

This is innovative stuff - and an interesting read.

 https://www.seas.upenn.edu/stories/penn-and-umich-create-worlds-smallest-programmable-autonomous-robots/ 

A couple of things have happened as a result of the Everything Open conference. First off, the Hackaday folks have run an article on it https://hackaday.com/2026/02/01/the-latest-from-reprapmicron-nail-gel-first-objects-and-more/ which is nice for a bit of exposure.

Second, Jon Oxer of SuperHouse (Maker Electronics maestro and entrepreneur Down Under) has said https://youtube.com/live/DVUR0oRK5SI he wishes to build a RepRapMicron and livestream the process, which is brave of him. I intend to follow along and see where, and how badly, my documentation fails. What I'm not going to do is hang around the livestream and keep offering advice, because an important part of this project is accessibility. If the likes of Jon can't follow it, I'm really messing up somewhere. We'll have to arrange a safeword beforehand...

From the hardware angle, I'm noodling with the Z Axis. I think the complementary flexures on the side of it might benefit from being a little thicker, and I'm adding a spring washer to help stop the Probe Arm from loosening up when you manually move it back and forth a lot. Probably tidy up the Z Touch Wire while I'm at it.

The organizers of Everything Open 2026 in Canberra earlier this month have kindly made a video of the talk and slides available. Damn, it's come a long way in the last year.

https://youtu.be/dq_ZCf0-KmM