title

Atlas - 6DOF 3D printed universal robot | Hackaday.io

charset

utf-8

viewport

width=device-width, initial-scale=1.0

theme-color

#333333

description

An Odrive + steppers based construction, with 5x 3D printed hollow shaft reducers and an internal CAN network.

og:type

website

og:title

Atlas - 6DOF 3D printed universal robot

og:url

https://hackaday.io/project/168259-atlas-6dof-3d-printed-universal-robot

og:image

https://cdn.hackaday.io/images/resize/600x600/5190941578152855266.jpg

og:description

Hi, I'm creating a 3D printed 6DOF robotic arm (it's my 3,5th attempt), I'm printing my own cycloidal reducers, all 5 of them are hollow shaft, I'm using 8 encoders, 2x BLDC servos (Odrive), 4x stepper motors. The current state of the project is - I've got the robot running, internal communication is working, mechanical side is done, electronics are working as well but still need to be cleaned up, I'm currently learning to use ROS and Moveit! to integrate my robot into the ROS ecosystem. I'm aiming at sub 0.5mm repeatability without changing load, and sub 2mm repeatability while changing load. Load capability is 4.5kg max, 2.5kg what I’d call 'nominal'. Load is wrist limited, I was able to lift 9.5 kg at 0.5m with the Axis 1, 2, 3 assembly. Considering the mass of the robot that was about 60Nm at Ax2. Use case - I’m trying to make it as versatile as possible, the end effector is easily swappable and has power and CAN

twitter:card

summary_large_image

twitter:site

@hackadayio

twitter:title

Atlas - 6DOF 3D printed universal robot

twitter:image

https://cdn.hackaday.io/images/resize/600x600/5190941578152855266.jpg

twitter:description

Hi, I'm creating a 3D printed 6DOF robotic arm (it's my 3,5th attempt), I'm printing my own cycloidal reducers, all 5 of them are hollow shaft, I'm using 8 encoders, 2x BLDC servos (Odrive), 4x stepper motors. The current state of the project is - I've got the robot running, internal communication is working, mechanical side is done, electronics are working as well but still need to be cleaned up, I'm currently learning to use ROS and Moveit! to integrate my robot into the ROS ecosystem. I'm aiming at sub 0.5mm repeatability without changing load, and sub 2mm repeatability while changing load. Load capability is 4.5kg max, 2.5kg what I’d call 'nominal'. Load is wrist limited, I was able to lift 9.5 kg at 0.5m with the Axis 1, 2, 3 assembly. Considering the mass of the robot that was about 60Nm at Ax2. Use case - I’m trying to make it as versatile as possible, the end effector is easily swappable and has power and CAN

apple-touch-icon-precomposed

/apple-touch-icon.png

canonical

https://hackaday.io/project/168259-atlas-6dof-3d-printed-universal-robot

stylesheet

//cdn.hackaday.io/css/style.css?version=1.1.3