Overview

  • 6DOF robotic arm driven by stepper drivers
  • Incorporates cycloidal gearbox, planetary gearbox, and HTD belts
  • Features a differential belt wrist to reduce end effector weight
  • Utilizes closed-loop joint control with magnetic encoders

Project Motivation

  • Opportunity to practice full-stack robotics development
  • Integration of mechanical design, embedded computer science, AI, and electronics
  • Exploration of combining AI and robotics with the use of Transformer models

MECH

Cycloidal Drive 1

Custom Thrust Bearing

Belt driven differential joint

Heavily influenced by Mishin Machine link

CS

MoveIt Ros simulation

Random motion test

ELEC

Iterated through multiple versions of PCB