Sixi 3 robot arm actuator

stepper motor + harmonic gearbox + moldable parts

Dan Royer

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Description

The Sixi 2 robot arm had 1300 parts in 250 types.  The Sixi 3 has 250 parts in 25 types.  using a single actuator many times brings down the cost to make, repair, replace, and refactor.

The software works, the design is ready for injection molding, all I really need is enough demos to show its practical applications.

There is a PCB in each unit that provides always-on absolute position sensing and CANbus communication.  This makes maintenance and assembly easier than ever before.

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Daisy Driver 2 preview
Dan Royer • 01/04/2023 at 21:03 • 0 comments

Now my challenge is to design and test the protocol that will run over CANbus.
Also to mount the rotating disc to the harmonic drive so that I get the feedback I want.
Join me! Together we'll make self-assembling robot arms.
Jogging and programming example
Dan Royer • 11/24/2021 at 18:21 • 0 comments

and since then I've fully colorized the robots in the app so it's way better looking.