CM6 - Compliant 3D printed robotic arm

It will be updated regularly. Atm only mechanical assembly instructions!

https://github.com/PCrnjak/CM6_COBOT_ROBOT/blob/main/assembly_instructions_v1.pdf

https://github.com/PCrnjak/S-Drive-Firmware

PCB build files are in this repo:

https://github.com/PCrnjak/CM6_COBOT_ROBOT

https://github.com/PCrnjak/CM6_control_software

Instructions on how to install and use it are in the github repo!!

https://github.com/PCrnjak/CM6_COBOT_ROBOT

This is still work in progress but it will contain:

• Build instructions for the whole robot
• Production files for all PCBs
• BOMS
• Use guides 

So this is a kinematic diagram of the CM6 robotic arm. you can see that robot has a spherical wrist since axes Z5, Z4, and Z3 always intersect. 

And here is DH table!

I also always like to have written what does every parameter mean since I forget every time so here they are! :D

Link offset = distance Zi-1 from Oi-1 to the intersection with Xi.

Link Length = Distance from Oi-1 and Oi measured along Xi

θ THETA = Rotation around Zi-1 to get Xi-1 to match Xi

α ALPHA = Rotation around Xi to get Zi-1 to match Zi (We are rotating frame Oi-1 around Xi)