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Sixi 2 Robot Arm

An open source six degree of freedom industrial robot arm that can hold 2kg at 80cm.

  • Robot arm
  • Open source
  • ROS
  • 3D printable

Suggested by Robotheca, created by @MarginallyClever (opens in a new tab), from github.com/MarginallyClever/sixi-2 (opens in a new tab). Pinned to commit 98ea12c (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
GPL-2.0-only (opens in a new tab)
Software license
GPL-2.0-only (opens in a new tab)
Commercial use
Allowed

Photo and 3D model

This repository has no photo of the robot yet.

3D preview converted from github.com/MarginallyClever/sixi-2 at 98ea12c, under GPL-2.0-only. View the original files from GitHub (53.3 MB) (opens in a new tab)

Reach
80 cm
Payload
2 kg

What it can do

Written by Robotheca from the project's documents.

  • Six degrees of freedom industrial robot arm.
  • Can hold 2kg at 80cm reach, per the README.
  • Has a ROS package in the repository.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @MarginallyClever (README.md), under GPL-2.0-only.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Arduino Mega based shield board (sixi2-mega-shield schematic and PCB files).
  • Motor drivers on a separate small-driver schematic.
  • Robot Overlord app and Makelangelo firmware run on the arm's controller, per the README.

Connections

  • The mega shield schematics in Eagle and KiCad define how the controller board and drivers connect.
  • The README does not describe the wiring in detail; see the schematic files.