The heart of this project is really the tool changer: it is also completely 3D Printed, and differs from other designs in its high-stiffness clamping mechanism. The design is a ‘pseudo’ kinematic mount that uses a french-cleat design pattern.
The Kleat design pattern extends the french-cleat to contact only in a few select locations, and to lock motion along the x axis. The design can be easily extended into other applications, and can be machined on a simple 3-axis machine using dovetail cutters. Tool base-plates can be machined using simple chamfer cutters.