​ 6-Axis 3D Printed Robotic Arm

September 2022 - August 2023 (9th Grade)

• 134 3D Printed Parts - All parts other than Motors, Bearings, Belts, and Fasteners
• 2 3D Printed Cycloidal gearboxes and differential-driven 5th and 6th axis.
• 6 Motors, 103 Bearings, 9 Belts, and a custom made wiring harness with 54 feet of wire.
• Maximum reach: 670mm
• Precision: ±2mm
• Max Load: Tested up to 2.5 kg
• Runs on custom-modified GRBL software in C for a 6-Axis Robotic Arm.
• Controlled by Arduino MEGA 2560, 2 CNC Shields, and 6 TMC2209 Stepper Motor Drivers.
• Ability to be controlled with a game controller, or prewritten movements in g-code.
• Integrated with RoboDK to use inverse kinematics to quickly make custom trajectories.
• Extremely low cost in comparison with industrial robots of similar size.
• Pick and Place Demonstration (Opens Drawer, Picks up and places 6 rolls of tape inside one by one, then Closes Drawer): https://photos.app.goo.gl/ZmyVBhpDW8v9j4VF8

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