The OSHE Pick-and-Place is a low-cost, open-source automated PCB assembly system developed at Michigan Technological University. While industrial SMT solutions are often financially out of reach for small labs and hobbyists, this project provides a modular, 3D-printable framework optimized for performance and ease of assembly.
The system leverages the mechanical foundations of a Creality Ender 3, extending its capabilities into a dedicated manufacturing tool. By utilizing a vacuum-based toolhead and precision motion control, this project bridges the gap between manual prototyping and industrial production.
- Precision Motion Control: Migrated to Klipper Firmware via Mainsail OS, allowing for higher-speed pathing and web-based machine management.
- Advanced Toolhead Design: A custom-engineered 3D-printed assembly featuring full 360° rotation and an integrated vacuum pick system.
- Expanded Work Envelope: Features a 370 x 480 mm footprint and support for PCBs up to 250 x 250 mm.
- Safety-First Integration: Adheres to ISO-12100 standards, featuring dedicated emergency stop (E-Stop) hardware and passive shielding.
The Spring 2026 revision (V2.0) has successfully transitioned the project into a functional integration phase. The machine currently supports SMD components (0804 and larger). Future development focuses on integrating computer vision and automated reel loading. This project currently exists separately from the OpenPnP architecture. It was not designed around their software suite.
Important
For the complete technical breakdown, including assembly guides and safety protocols, refer to the full master document below.
- 📄 Full Technical Manual - Detailed assembly, electrical, and safety documentation.
- 📦 Bill of Materials (BOM) - Comprehensive Google Spreadsheet lists of hardware, electronics, and 3D-printed parts.
- ⚙️ Configuration Files -
printer.cfgand macro definitions for Klipper. - 📐 CAD & Model Files - Full assembly models and printable components.
/CAD: STEP and STL files for the machine and custom components./Software: Klipper configurations and legacy Marlin firmware./Archive: Legacy V1 designs and research notes./Media: Renders and isometric views of models./BOMs: Subsystem bills of materials, including hardware and 3D printed components.
- Review the Our Documentation for the full build guide. Follow along with the 3D printing settings outlined in CAD
- Clone this repo to access the latest Klipper
printer.cfg. - Join the conversation on the OSHE Website and check out other OSHE projects at our enterprise GitHub
Developed under the Michigan Technological University Open Source Hardware Enterprise (OSHE)