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Dummy Robotic Arm

A compact smart robotic arm with 6 degrees of freedom, designed for educational and hobbyist use.

  • Robot arm
  • No license: all rights reserved by the creator
  • 3D printable

Suggested by Robotheca, created by @peng-zhihui (opens in a new tab), from github.com/peng-zhihui/Dummy-Robot (opens in a new tab). Pinned to commit 84453f1 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (1 script, 80 programs or installers, 1 firmware image)

Photo

Its license doesn't let Robotheca show its photos.
See the photos on GitHub (opens in a new tab)

Commercial use is not confirmed for this robot, so no preview is stored. View the STEP files on GitHub (opens in a new tab)

Degrees of freedom
6

What it can do

Written by Robotheca from the project's documents.

  • Moves robot arm joints in torque, speed, position or trajectory modes via CAN or UART
  • Runs closed-loop stepper motors with encoder calibration on power-up
  • Supports three command modes: sequential (SEQ), real-time (INT) and trajectory (TRJ)
  • Performs inverse and forward kinematics using DH parameters
  • Plans trapezoidal acceleration for smooth joint movements
  • Synchronizes multiple motors via CAN broadcast for coordinated motion
  • Stores parameters in simulated EEPROM for power-down retention
  • Displays system status on OLED screen

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Prepare 3D printed parts and hardware components
  2. 2Assemble the robotic arm structure
  3. 3Install and wire the electronic modules
  4. 4Flash firmware to the controllers
  5. 5Calibrate the encoders and set zero points
  6. 6Install and configure the control software
  7. 7Test and fine-tune the robotic arm

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • REF main controller board with STM32 MCU
  • REF base board inside the robot base
  • 20-size stepper motor driver with STM32F1 and CAN support
  • 42-size stepper motor driver with STM32F1 and CAN support
  • Peak wireless teaching pendant with STM32 and radio
  • Hand module with LED ring PCB and addressable LEDs
  • IMU sensor for orientation feedback
  • OLED display for status and debugging
  • Buzzer for audio feedback
  • Non-volatile storage for parameters
  • 20-size and 42-size stepper motors with encoders

Connections

  • CAN bus connects all motor drivers and main controller in a daisy chain using four wires (power positive, power negative, CAN high, CAN low)
  • UART or USB connects main controller to PC for command and status
  • I2C bus connects OLED display and IMU to main controller
  • Motor drivers receive power and CAN signals via 4-pin connectors
  • Peak pendant communicates wirelessly with main controller

Schematics, boards and diagrams