Dynamic 6-Axis Robot from scratch

For housing all the electronics I designed a external electronics enclosure. This includes:

- Safety electronics

- 24V and 5V power supplies 

- Motor drivers

- power distribution PCB

- main IO and sensor PCB

The roboter is connected to the enclosure via a single connector. Peripherals can be connected via a secondary connector.

The electronics enclosure:

Front side with E-stop, on of switch, Led indicators and HMI connector

Backside with the described connectors for the robot and peripherals:

For testing the robot I additionally designed a table that can withstand the forces involved when robot is accellerating.

Overview of the Nanotec BLDC motors and drivers:

BLDC Motors:

The first two axis are driven with the larger BLDC motors the rest with the smaller ones.

BLDC Motor Drive:

The first 3 axis are assembled and two motors and one Absolute encoder is fitted. For now just 2 motors are used for testing 

Part-assembly of the first three axis:

All the mechanical components for the first 3 axis are build/ machined using my diy CNC mill and a bechtop lathe

The following pictures show a few examples of the components that I machined:

Belt pulleys:

Bearing cage of the second axis:

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.