View Full Version : [Project] 3D Printed Robotic Arm with 6 DOF Plus a Gripper

05-06-2013, 09:07 PM
First time picking up an object with my 3D printed robotic arm.
This arm is inspired in design by the KUKA LBR (but not nearly as sturdy or capable as the KUKA arm).
It uses Dynamixel servos (2-Mx64, 3-MX28, 2-AX18)
Right now the reach and the gripper payload are very limited. It can just carry its own weight plus a small item when close to the base. Extending the arm more or adding more weight will overload the servos.
It has the Phantom gripper from Trossen Robotics.
The software is custom made using the SDK from Robotis and the USB2Dynamixel connector.
The only wiring is the 3-pin connectors daisy-chaining all the servos together.
Thanks to the folks at Trossen Robotics for the help and the great products.
Next steps are to experiment with the control to reduce torques from acceleration and vibration to increase the payload, and possibly to use MX106 servos. http://www.youtube.com/watch?v=K4NG-gzWh10

05-06-2013, 09:15 PM
Looks great!

05-06-2013, 10:55 PM

Where did you have parts printed -- and how much did that printing cost?


05-07-2013, 12:56 AM
I have access to a 3D printer at work. I have to double check, but I'm guestimating it was about 200$ in material (including print support material)

05-07-2013, 12:45 PM
Wow ! That looks great !

05-07-2013, 04:01 PM
That arm looks awesome gershon!
Can I ask what software you used to design the printed parts?

05-07-2013, 04:51 PM
I agree -- the design of that arm is very good looking. I can see what you're saying about torque problems with all of those degrees of freedom, though -- hobby servos, even Dynamixels, really aren't going to like that :-)

05-07-2013, 05:22 PM
That arm looks awesome gershon!
Can I ask what software you used to design the printed parts?

I used a free 3D modeling tool called "Wings3D". I like it, but there are many things I could have done better with a more sophisticated tool such as recesses for the nuts that hold my joints. As it is I have to epoxy each one individually (8 per joint) and pray they don't come loose while I am assembling it.

05-07-2013, 08:51 PM
Very impressive, not just from a technical viewpoint but aesthetics as well.

05-23-2013, 10:03 AM
I upgraded the most taxed servo to an mx106 and it is running quite well.

Here it is stacking dice.



05-24-2013, 11:06 AM
That is too cool. What software are you using to control the arm ?

05-27-2013, 11:55 PM
That is too cool. What software are you using to control the arm ?

I used the Dynamixel SDK from Robotis to create a C# WPF application that communicates over a USB2Dynamixel connector. My app constantly monitors and displays all the servo's temperature, torque and position. I can move the arm and "remember" the positions of all the joints, then save and playback lists of positions. It is a work in progress :-)

06-11-2013, 12:14 PM
I added interactive Kinect control and some gesture recognition for the Seattle Mini Maker Faire.


Audio in this one is quite low, but audible if you crank it up.

06-11-2013, 12:50 PM
Well done! I'm working on gesture based control for my hex. Which is rather comical since when I motion for him to turn he looses sight and stops moving. :P Are you using OpenNI and their middleware as well?

06-11-2013, 08:21 PM
Are you using OpenNI and their middleware as well?
I'm using the Kinect for Windows SDK.

When I have used Kinect with mobile robots I usually make the Kinect fixed and remote the commands to the robot. :wink:

06-11-2013, 08:56 PM
Well the primesense sensor is its vision for object collision and object recognition. I'm just adding a bit of flair to it by adding gestures. http://www.youtube.com/watch?v=9iE3Yv2s6n4

06-12-2013, 01:06 AM
That is one very nice looking arm gershon, great work!

06-13-2013, 05:59 AM
Very well done! I like how the design encapsulates the servos. Looks great.

07-21-2013, 03:59 PM
Cool. If it will be possible to improve this robotic arm with help of new more powerfull dynamixel actuators, to increase it's strength, it may serve for example for remote-presence applications. Like telemedcine remote surgery operations, only for some mechanical/electronics stuff for people who will ask for help or for some service. They will need just to share via internet control over couple of these arms and webcam. Like it can be made now for desktop and mouse. I think control with kinect will be enougth for this task (it will be need just to think out how to change "mouse speed" of kinect no the fly, to perform different types of operations: quick+wide and slow+small, may be leap motion controller will be better suitable for this task, it tracks hand/thingers)

Customer service pack from Trossen - couple of robotic arms, video turret and 6 month of prepaid remote service :veryhappy:

11-20-2014, 02:00 PM
I've created a new video.


11-21-2014, 10:17 AM
I love a well-produced arm shell like that! It looks very neat.