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Thread: 3D Printed Robotic Arm with 6 DOF Plus a Gripper

  1. 3D Printed Robotic Arm with 6 DOF Plus a Gripper

    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

  2. #2
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    Re: 3D Printed Robotic Arm with 6 DOF Plus a Gripper

    Looks great!

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    Re: 3D Printed Robotic Arm with 6 DOF Plus a Gripper

    Awesome!

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

    -Fergs

  4. Re: 3D Printed Robotic Arm with 6 DOF Plus a Gripper

    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)

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    Re: 3D Printed Robotic Arm with 6 DOF Plus a Gripper

    Wow ! That looks great !

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    Re: 3D Printed Robotic Arm with 6 DOF Plus a Gripper

    That arm looks awesome gershon!
    Can I ask what software you used to design the printed parts?

  7. #7

    Re: 3D Printed Robotic Arm with 6 DOF Plus a Gripper

    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 :-)

  8. Re: 3D Printed Robotic Arm with 6 DOF Plus a Gripper

    Quote Originally Posted by Lupulus View Post
    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.

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    Re: 3D Printed Robotic Arm with 6 DOF Plus a Gripper

    Very impressive, not just from a technical viewpoint but aesthetics as well.

  10. Re: 3D Printed Robotic Arm with 6 DOF Plus a Gripper

    I upgraded the most taxed servo to an mx106 and it is running quite well.

    Here it is stacking dice.

    http://www.youtube.com/watch?v=p7_BoPnK-9w

    -Gershon

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