9# Manufacturing of the 5th and 6th axis

A project log for Dynamic 6-Axis Robot from scratch

I developed a 6 axis robot with half a meter reach and 3kg payload. It is servo driven and features absolut encoders on all axis.

adrian-prinzAdrian Prinz 08/15/2023 at 14:070 Comments

The 6th axis is the most integrated and thus most complex axis of the robot. In a small form factor it includes:

- 12bit incremental motor encoder

- BLDC motor

- wave gear

- 18 bit absolut magnetic encoder

- bearing arrangement

- peripheral connector for sensors and actuators

- output mechanical interface

all housed in a 3D printed aluminium enclosure, which allows high stiffness and hear dissipation

The completed 5th and 6th axis hand assembly: