The overall 6-Axis-Robot was first engineered and designed using Matlab and Fusion 360.

The completed robot design is shown in the following picture:

The dimensions of the roboter where mainly orientated on the capabilities of my machines (e.g. my diy cnc milling machine)

The drives where dimensioned based on kinematic calculation as well as dynamic simulations using Matlab. This way I was able to make sure that the robot will fullfill the requirements I imagined for this project.