Dynamic 6-Axis Robot from scratch

For simple but fast gripping tasks I additionally designed a pneumatic gripper system:

I designed a mechnical parallel gripper to be mounted to the mechanical interface of the 6th axis

To control the robot savely and reliably I designed and built a control device.

The Control Device includes:

- E-Stop

- 2x buttons

- 2x joy sticks

- 5 inch touch display

The HMI is connected to the electronics enclosure via a cable. Communication is done via multiple IOs and a CAN-FD bus.

Control Device with custom user interface:

Control Device:

The robot main connector seperated in 2x 50 pin D-Sub for IO and sensors as well as a 18 pin power connectors

Sub-assembly of the 3rd to 6th axis with cover:

The 6th axis is the most integrated and thus most complex axis of the robot. In a small form factor it includes:

- 12bit incremental motor encoder

- BLDC motor

- wave gear

- 18 bit absolut magnetic encoder

- bearing arrangement

- peripheral connector for sensors and actuators

- output mechanical interface

all housed in a 3D printed aluminium enclosure, which allows high stiffness and hear dissipation

The completed 5th and 6th axis hand assembly:

Right angle connector of the first to second arm:

Right angle connector and second arm main body:

Right angle connector and second arm main body in 3D printed cover:

Finished electronics enclosure: