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: