Faze4 robotic arm

thingiverse

I store all stl files in a zip archive because there are numerous files involved. I plan to update my github repository more frequently, so check back there for updates. This project remains a work in progress. All relevant information about the project can be found at https://github.com/PCrnjak/Faze4-Robotic-arm. With over seven years of experience building robot arms, each one surpasses its predecessor, and this is my latest creation. The design evolved after I successfully built a working 3d printable cycloidal gearbox and envisioned potential applications for it. Subsequently, I designed the entire arm around this component. This arm utilizes six stepper motors: three NEMA 23, two NEMA 17, and one NEMA 14. Joints 1-5 employ planetary gearboxes and belts, while joint 6 relies on a planetary gearbox. Joints 1 and 6 are homed using inductive sensors. The remaining joints utilize limit switches for homing. Initial testing of the arm was conducted with custom code on an STM32 microcontroller, but I plan to transition to a Teensy board and improved software soon. The estimated cost of this robotic arm ranges from $1000 to $1500, depending on component choices made during assembly.