3d printed - CyBot Cycloidal 6 axis Robot Arm

Description

This is a six axis dof cycloidal drive robot arm.

My YT channel:

https://www.youtube.com/@CyBoT_robot

Please be aware that I'm still working on it and it is only for educational purpose.

For beginners :

Here is the cybot_arduino git project that contains an easy setup with arduino MEGA shield that will allow you to run Cybot with command lines :

https://github.com/quartit/cybot_arduino/blob/main/README.md

For advanced users :

I develop on a Raspberry connected with UART to a STM32 bigtreetech GTR that support 6 steppers + one extra stepper for the gripper.

I'm using ROS1, ROSSERIAL_PYTHON, moveit (to be finalized) , FlexyStepper library. And can be connected with a gamepad (e.g. logitech) (see youtube video)

You can find URDF file here for moveit: https://github.com/quartit/cybot_support

and I will add later the code of the CubeIDE project in C++ .

The stm32 main.cpp connect to ROS /joint_states and /joy topics.

Stl files and description doc on Cults3D : https://cults3d.com/en/3d-model/gadget/cybot-cycloidal-disk-robot-arm

Files