CE2T 6-DOF Robotic Arm

A budget-friendly, mainly 3D-printed 6-degree-of-freedom robotic arm driven by stepper motors and controlled by an Arduino in open loop.

3D preview converted from github.com/Gavinkuo123456/CE2T-6-Axis-Robotic-Arm at 0138353, under MIT. View the original files from GitHub (2.6 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Controls a 6-degree-of-freedom arm with open-loop stepper motor positioning
Accepts joint-angle moves, Cartesian inverse-kinematics moves, homing and gripper commands over serial
Can also receive position commands over I2C from another device
Uses Denavit-Hartenberg forward and inverse kinematics for position control
Rated payload about 500g and workspace about 500mm radius, per the documents

This repository has no parts list Robotheca can read yet.

The guide appears here as you scroll.

Guide by @Gavinkuo123456 (README.md), under MIT.

Notes written by Robotheca from the project's documents.

Arduino Due controller board
TMC2209 and DM542 stepper motor drivers
Stepper motors: NEMA23, NEMA17 (two with planetary gearboxes), NEMA14 and NEMA11 for the six joints
24V 100W power supply
Six optical endstop limit switches
Pin header and a general-purpose PCB as a custom expansion board

Difficulty: Advanced
Estimated cost: Not stated
Buildability: 55/100Buildable with some effort
Parts: –
Tools: 3D printer, Screwdrivers, Allen keys, Wire strippers, Multimeter, Laser cutter (optional)

Buildable with some effort

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 0138353. It isn't a rating of the robot.

3D and CAD files20/20
17 printable parts (STL, 3MF), 121 CAD source files.
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software15/15
Code in this repository, instructions to install or run it, built on arduino.
Documentation10/15
README of 4,089 characters with 2 pictures; 0 build steps.
Split the build into at least 3 steps.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: MIT; software: MIT.

Written by Robotheca from the project's documents.

Install the Arduino IDE, the latest version
Install the libraries AccelStepper, MultiStepper, math and, if a servo gripper is used, Servo
Open and compile the Arduino sketch from the Codes folder
Upload the sketch to the Arduino Due board
Open the serial monitor and send commands such as jm, IK, zro or clm to move the arm

Robotheca doesn't review code. Read it before running it.

Every file of the project: code, CAD, electronics, guides, at commit 0138353.

Questions and improvements go to the creator's repository.