CM6 V2 Robotic arm

A compliant, safe 6-axis robotic arm built from 3D-printed and aluminum-extrusion parts, intended as a research platform for compliant robotics.

Robot arm
Open source

Suggested by Robotheca, created by @Source-Robotics (opens in a new tab), from github.com/Source-Robotics/CM6_COBOT_ROBOT (opens in a new tab). Pinned to commit f4668c1 (opens in a new tab).

Fork Download

Hardware license: MIT (opens in a new tab)
Software license: MIT (opens in a new tab)
Commercial use: Allowed

CM6 V2 Robotic arm, photo from its repository — Photo:@Source-Robotics (opens in a new tab)MITsource file (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Compliant, safe robotic arm with six joints driven by gimbal BLDC motors through small gearboxes
Intended as a research platform for compliant and safe robotics
Joint design can be changed by using different aluminum extrusion sizes or gearbox ratios

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @Source-Robotics (README.md), under MIT.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

Six gimbal BLDC motors, each joint paired with a gearbox of 5:1 to 9:1 ratio
Spectral BLDC motor driver on each joint, mounted on modular actuator designs

Connections

Each joint's motor is driven by its own Spectral driver mounted on the modular actuator

Project information

Difficulty: Advanced
Estimated cost: Not stated
Buildability: 38/100Incomplete documentation
Parts: –
Tools: 3D printer

Buildability38/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit f4668c1. It isn't a rating of the robot. Counted out of 80 points and scaled to 100: the parts that don't apply to this robot are left out. How we score

3D and CAD files0/20
No printable parts or CAD files.
Most points to gain: Add the parts to print (STL or 3MF files). Add the CAD source (STEP, or the CAD program's own files) so people can change the design.
Robot descriptionNot counted
No URDF. Not counted: the score is made of the parts that apply.
Optional: add a URDF, and the robot can be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
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.
Software10/15
Code in this repository, instructions to install or run it.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation10/15
README of 2,492 characters with 1 picture; 0 build steps.
Split the build into at least 3 steps.
SimulationNot counted
No simulation files. Not counted: the score is made of the parts that apply.
Optional: add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: MIT; software: MIT.

Software

Framework: Not stated
Languages: Python
License: MIT

Software that runs on this robot

No software from Robotheca's catalogue found in this robot's files yet. Links come from its robot.yaml, its dependency files read as text, or Robotheca's editors.

The code

CM6_V2_code/Python · 7 files

How to run it

Written by Robotheca from the project's documents.

The README points to a build instruction PDF and says the Python software and GUI are coming soon, so the run steps are not described

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

Project files

Every file of the project: code, CAD, electronics, guides, at commit f4668c1.

Community

Questions and improvements go to the creator's repository.

Photo