3d printed - CyBot Cycloidal 6 axis Robot Arm

A 3d printed robot arm using cycloidal gearbox and steppers.

Samuel Meurice

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Description

This is a six axis dof cycloidal drive robot arm.

My YT channel:

https://www.youtube.com/@CyBoT_robot

Please be aware that I&apos;m still working on it and it is only for educational purpose.

For beginners :

Here is the cybot_arduino git project that contains an easy setup with arduino MEGA shield that will allow you to run Cybot with command lines :

https://github.com/quartit/cybot_arduino/blob/main/README.md

For advanced users :

I develop on a Raspberry connected with UART to a STM32 bigtreetech GTR that support 6 steppers + one extra stepper for the gripper.

I&apos;m using ROS1, ROSSERIAL_PYTHON, moveit (to be finalized) , FlexyStepper library. And can be connected with a gamepad (e.g. logitech) (see youtube video)

You can find URDF file here for moveit: https://github.com/quartit/cybot_support

and I will add later the code of the CubeIDE project in C++ .

The stm32 main.cpp connect to ROS /joint_states and /joy topics.

Details

Stl files and description doc on Cults3D : https://cults3d.com/en/3d-model/gadget/cybot-cycloidal-disk-robot-arm

Files

CyBot__Adding_joystick_and_gripper.gif Graphics Interchange Format - 8.52 MB - 11/09/2023 at 18:59		Preview

20231105_194952.jpg JPEG Image - 908.37 kB - 11/09/2023 at 18:59		Preview

20220109_203344.jpg JPEG Image - 462.42 kB - 01/10/2022 at 11:07		Preview

Axis5-6-SectionAnalysis.JPG JPEG Image - 191.14 kB - 12/15/2021 at 10:36		Preview

CycloidalDisk1-12-dimension.JPG JPEG Image - 209.90 kB - 12/15/2021 at 10:36		Preview