Specifications

Specs

• Weight: 2245g (total)
  • Base: 895g
  • Shoulder: 176g
  • Arm: 820g
  • Elbow: 130g
  • Forearm: 123g
  • Wrist: 101g
• Payload: ~300 g
• Degrees of freedom: 6 rotating joints
• Material: 3D printed PA-CF
• Repeatability: 1 mm
• Rotation range:
• 1: -170 – 170 deg
• 2: -73 – 90 deg
• 3: 35 – 180 deg
• 4: -180 – 180 deg
• 5: -120 – 120 deg
• 6: -720 - 720 deg

Components

Electrical

• PCBs (This will be covered detailly in Electronics Page.)

• NEMA 8 Bipolar Stepper Motor (1.8 deg)

  • datasheet
  • Torque Curve
• NEMA 17 Bipolar Stepper Motor (1.8 deg)
  • datasheet
  • Torque Curve
• NEMA 17 Bipolar Stepper Motor (1.8 deg) Pancake
  • datasheet
  • Torque Curve

Mechanical

• 3D-printed parts (structural)

  • Base motor holder (left, right, pin)
  • Controller case(inner, outer)
  • Base (top, bottom)
  • Shoulder
  • Arm (top, bottom)
  • Elbow
  • Forearm
  • Wrist

• 3D-printed parts (decoration)

  • Shoulder
  • Arm (top, bottom)
  • Elbow
  • Forearm
  • Wrist

• bearings

  • 6705zz (25 mm x 32 mm x 4 mm)
  • 63705zz (25 mm x 32 mm x 7 mm)
  • 6704zz (20 mm x 27 mm x 4 mm)
  • ET2015 (15 mm x 20 mm x 3.5 mm)

• belts

  • misumi

Operating temperatures

Stepper motors can operate without issue in the range of 100 - 110 degrees. Generally, the temperatures of motors fall within the 40 - 60 degrees range. The temperature of the REF board is approximately 50 degrees.

Dimensions

Link	Length
D_BASE	35 mm
L_BASE	109 mm
L_ARM	146 mm
D_ELBOW	52 mm
L_FOREARM	115 mm
L_WRIST	82 mm

Kinematic diagram

• Digram for the robot using standard pneumatic gripper

Denavit-Hartenberg parameters

Joint reduction ratios and microstepping

Reduction ratios for each joint are as follows:

• Joint 1 -> Harmonic gearbox: 50 : 1
• Joint 2 -> Harmonic gearbox: 30 : 1
• Joint 3 -> Harmonic gaerbox: 30 : 1
• Joint 4 -> Harmonic gaerbox: 30 : 1
• Joint 5 -> Harmonic gaerbox: 30 : 1
• Joint 6 -> Planterary gearbox: 5.2 : 1

Joint limits

Robot joint positive rotations are in the directions shown on the image.

Joint	Limit in negative direction	Standby position	Limit in positive direction
J1	-170	0	170
J2	-73	0	90
J3	35	90	180
J4	-180	0	180
J5	-120	0	120
J6	-720	0	720