This repository contains everything you need to make an (almost) completely 3D-printed six axis robotic arm. The robotic arm makes use of six BLDC motors. They are controlled by three ODrives (two motors per ODrive) and those ODrives are controlled by a ROS network.
The gear reductions are planetary gear sets and are also printed. Big shoutout to Gear_Down_For_What (https://www.thingiverse.com/gear_down_for_what/designs) for providing the basic planetary gear design. I altered it to make it work in my robot.
The design is made using SolidWorks.
This robotic arm was developed as a final project for high school.
- CAD files: SolidWork files.
- Paper: the paper that was required for this project, in Dutch.
- The STL and DXF files can be found in the release (the files are too big for GitHub) or here:
See https://photos.app.goo.gl/QDrwJVek35PyC75j9 for actual pictures and videos of the project.