Marker Holder for FANUC Robot

“Imagine a world where art and technology blend harmoniously, where the beauty of nature meets industrial innovation.”

FujiMarker is much more than a simple marker holder: it is a symbol of adaptability, inspired by the majestic Mount Fuji, yet designed to meet the precision and performance requirements of the Fanuc robotic arm, which currently lacks a reliable and open-source marker holder solution.

Thanks to a unique design that echoes the iconic silhouette of Mount Fuji, FujiMarker is the ideal solution for those seeking a functional, aesthetically intriguing, and highly efficient accessory.

Designed to optimize the use of markers of various sizes, this device not only enhances the accuracy of operations but also brings a touch of elegance to every project.

Are you ready to discover how FujiMarker can transform your experience working with drawing robotics?

To build our setup, only a few materials are needed:

1. 69.7 grams of filament – we recommend ABS, but PLA can simplify the printing process, and fiberglass is also appreciated for improved performance.
2. A 3D printer
3. A reliable slicer software
4. 5 hours of free time, which can be reduced if you choose to print individual components simultaneously
5. A FANUC robotic arm with a compatible gripper – in our lab, we use an ER-4iA arm with a Schunk 40-N-N-B gripper.
6. 1 M4 20mm Screw whit M4 Hexagon Nut

We’ve included four different STL files for this project:

1. The marker holder
2. The Mount Fuji-inspired stand
3. The base, along with its wedges for stabilization
4. All the stuff above togheder

Each component was designed in Tinkercad and exported as an STL file.

Any program capable of editing STL files will be sufficient if you need to make adjustments or customizations.

Here are some free alternatives in case you don’t want to use Tinkercad itself:

Blender, Netfabb, or Meshmixer are all excellent options.

Before starting the print, review and modify the files in the following areas to ensure they best suit your machine setup.

Think you can change in the Marker Holder:

1. Grip Cylinder Size: Adapt the cylinder diameter to match your gripper’s claws. We recommend checking your gripper’s datasheet to identify at which closing diameter it exerts the maximum force (in Newtons).
2. Thread Diameter: If needed, you can modify the diameter of the locking nut’s screw. Keep in mind this may be difficult and could lead to breakage, so proceed with caution.

Think you can change in the Base:

The base is designed to be modular, with various attachable components via four corner pins:

1. Pins: These are optional and removable — feel free to omit them. The base can also be fused directly with the Mount if needed.
2. Dovetail Rails: The height and width of the dovetail guides can be modified. You may even standardize them (e.g., Bosch-style guides), many of which have ready-made models available for free on platforms like Thingiverse or Printables.
3. Pin Height: The height of the corner pins is adjustable — modify it to better fit your specific module configuration.

Think you can change in the Mount Fuji-inspired stand:

1. You can reduce the model’s resolution to speed up printing without losing functionality.
2. You may also limit the depth or width of the internal cavity. The design is scalable, so we recommend doing a few partial test prints before committing to changes.

Assembly consists of just a few simple steps.

The base and pen holder are connected via a slot-in mechanism, using the pins as joints between the two parts.

As for the pen holder itself, the assembly is even more intuitive.

The hex nut should be placed in its dedicated housing, which eliminates the need for a wrench.

You can then tighten the parts together using a screwdriver or Allen key.

If you're working with particularly small tools or wish to increase the grip, you may consider adding a foam-like material to fill any potential gaps beyond the pen holder's maximum closure range.

Our design is made to operate autonomously, but following a few best-use practices is important to ensure long-term performance.

1. Do not force the marker into its slot: Excessive pressure may damage the tip over time and push the marker down, affecting performance.
2. For this reason, the base is designed to help guide the marker into position even after a small drop.
3. If the gripping support is placed accurately, it won’t interfere with the toolpath and will rest correctly on the mount’s opening.
4. The base has an orientation: the "FANUC" text should face the operator. Ideally, the marker should be inserted from the left side, where the two protrusions on the mount assist in proper alignment and placement.
5. To ensure the base remains stable, you can use one of the provided pins as a stopper—just place it at the edge.
6. If you're not using dovetail guides, we recommend taping or gluing the base to the surface. Avoid using cyanoacrylate or two-part epoxy; instead, use adhesives specifically made for 3D printed materials or water-based glues.

We are a small group of three students from the Mechatronics ITS in Borgomanero (Italy), passionate about design and always ready to take on a challenge when the opportunity arises.

Our team is called M.I.N., formed from the initials of our names: Matteo, Ilaria, and Nicola.

This project was born from the desire to solve a real problem with creativity and practicality.

We hope you enjoy it — and we also hope this is just the beginning of a long series of ideas and solutions.

If you're curious or have any questions about why this project exists, feel free to check out our story here (in English):

📄 Project Story PDF