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Mockway Robot

An open-source 6-DOF collaborative robotic arm system with mechanical structure, electronics, and software.

  • Robot arm
  • Open source
  • ROS 2
  • 3D model (URDF)
  • 3D printable

Suggested by Robotheca, created by @Jelatine (opens in a new tab), from github.com/Jelatine/mockway_robotics (opens in a new tab). Pinned to commit a0e2f59 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
MIT (opens in a new tab)
Software license
MIT (opens in a new tab)
Commercial use
Allowed

Photo and 3D model

This repository has no photo of the robot yet.
Try it in the browser

3D preview converted from github.com/Jelatine/mockway_robotics at a0e2f59, under MIT. View the original files from GitHub (1.7 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • 6-axis collaborative robotic arm with position and torque control
  • MoveIt! motion planning and execution
  • MoveIt Servo real-time manual jogging in joint and Cartesian space
  • Gravity compensation mode for safe manual movement
  • Named poses and joint-space trajectories
  • Cartesian-space linear interpolation with step control
  • ROS2 control hardware interface for DM motors via CAN bus
  • Lua scripting API for motion control and state queries

Bill of materials

23 parts
Export parts list (CSV)

23 of 23 parts shown

Parts list
#ComponentQuantityEst. priceSupplier
1电机壳6––
2基座1––
3法兰5––
4末端1––
5肘部1––
6连杆(短)1––
7连杆(长)1––
8电机43104–J1，J4，J5，J6https://item.taobao.com/item.htm?id=815333472865: buy 电机4310, opens in a new tab
9电机43402–J2，J3https://item.taobao.com/item.htm?id=814943831981: buy 电机4340, opens in a new tab
10土八热熔螺母M3*4*460–Supplier: buy 土八热熔螺母M3*4*4, opens in a new tab
11土八热熔螺母M2*3*310–Supplier: buy 土八热熔螺母M2*3*3, opens in a new tab
12十字平头螺丝M2*610–Supplier: buy 十字平头螺丝M2*6, opens in a new tab
13内六角螺丝钉M3*1024–Supplier: buy 内六角螺丝钉M3*10, opens in a new tab
14外六角螺丝M3*830–Supplier: buy 外六角螺丝M3*8, opens in a new tab
15自攻螺丝M2*524–Supplier: buy 自攻螺丝M2*5, opens in a new tab
16沉头十字螺丝M3*836–Supplier: buy 沉头十字螺丝M3*8, opens in a new tab
17沉头十字螺丝M3*1236–Supplier: buy 沉头十字螺丝M3*12, opens in a new tab
18A型平键销M3*3*61–Supplier: buy A型平键销M3*3*6, opens in a new tab
19开口扳手5.5mm1–Supplier: buy 开口扳手5.5mm, opens in a new tab
20USB-CAN模块（控制方案1️⃣）1–Supplier: buy USB-CAN模块（控制方案1️⃣）, opens in a new tab
21树莓派5（控制方案2️⃣）1–Supplier: buy 树莓派5（控制方案2️⃣）, opens in a new tab
22CAN扩展版（控制方案2️⃣）1–2-CH CAN HAThttps://item.taobao.com/item.htm?id=638355987682: buy CAN扩展版（控制方案2️⃣）, opens in a new tab
2324V电源1––

23 of 23 parts have no price in the source, so there is no parts total. Read from doc/BOM.md at the pinned commit.

Build guide

The creator's steps, each with its instructions.

  1. 1Prepare mechanical structure and 3D print parts
  2. 2Assemble mechanical components
  3. 3Set up electrical connections
  4. 4Install and configure software dependencies
  5. 5Calibrate joint zero positions
  6. 6Test motor control and torque compensation
  7. 7Run MoveIt! for motion planning

The guide appears here as you scroll.

Guide by @Jelatine (README_EN.md), under MIT.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Raspberry Pi 5 (control scheme 2)
  • WitMotion USB-CAN module (control scheme 1)
  • CAN expansion board (control scheme 2)
  • DM-J4310-2EC motors (joints 1, 4, 5, 6)
  • DM4340 motors (joints 2, 3)
  • 24V power supply

Connections

  • Motors connected to CAN bus via USB-CAN module or CAN expansion board
  • USB-CAN module uses serial port at 921600 baud and CAN bus at 1M baud
  • Motor IDs: J1=1, J2=2, J3=3, J4=4, J5=5, J6=6
  • Motor feedback and control via CAN bus