• ### HIGH speed movement

In this video robot is moving from point to point with acceleration and deceleration. This makes it start and stop smoothly without jerky motion.

• ### Kinematic diagram of the robot and Denavit-Hartenberg parameters

So this is a kinematic diagram of the CM6 robotic arm. you can see that robot has a spherical wrist since axes Z5, Z4, and Z3 always intersect.

And here is DH table!

I also always like to have written what does every parameter mean since I forget every time so here they are! :D

Link offset = distance Zi-1 from Oi-1 to the intersection with Xi.

Link Length = Distance from Oi-1 and Oi measured along Xi

θ THETA = Rotation around Zi-1 to get Xi-1 to match Xi

α ALPHA = Rotation around Xi to get Zi-1 to match Zi (We are rotating frame Oi-1 around Xi)

• ### First video of CM6 in action!

First video of CM6 in action! Here you can see joint 1 being used as master and joint 2 as a slave (joint 1 is disabled, so it is really easy to move it). Atm, I only wired up the first 3 joints, and the software I wrote is configured for 3 DOF arm so there is a lot of work there. I tested multiple control techniques and one in this video works best and smoothest. In the future, I will show you other techniques I used but they did not perform as well as this one.

• ### Total assembly!

I finally assembled the arm! It is looking really promising but everything will be revealed when I start some hardcore testing! Here are some pictures :D

• ### Assembled base (Joint 1 and 2)

Assembled the last parts of the robot. Now the only thing left is to put it all together and start testing and playing around with it. Joint 1 these pictures is using 8:1 planetary gear reduction and joint 2 is also using 8:1 planetary reduction.

• ### Upper arm + forearm

So this is assembled forearm and upper arm. So upper arm is using aluminum extrusion to connect joint 3 with joint 4. By using aluminum extrusion we can lengthen and shorten the arm and change the reduction ratio of joint 3 by changing a few parts. The length of extrusion in this picture is 200mm. Gear reduction of joint3 is 8:1 planetary gear ratio and then 32:28 belt reduction. The total reduction of joint3 is 9.14285:1.