3D Printable Robot Arm

I'm still working on this project ;) but not I've not so much time.

Im currently working on a new version again with steppers (Nema24) and belt drives.

I also tried to make my own harmoic drive:

It didn't worked as I hoped and I spend a lot of time working on it until now but I will close this aproach.

I fixed the broken parts and started building a housing for the electronic:

I got the kinematics running but a silly error of let the arm break free. So I reprinted some parts. I used the IK sovler from ROS/moveit: http://moveit.ros.org/wiki/Kinematics/IKFast

I'm very kind of all the people who offered help with this project, I still don't know how to organize that everyone can participate in a good way.

This an update video about the ongoing Development. I installed the the encoders and printed the hole new robot arm.

You can download the encoder PCB and encoder mounts at:

http://www.thingiverse.com/thing:639329

Here are the stl files of my gripper:
http://www.thingiverse.com/thing:661286

I also will post a video update soon. I made a lot of progress. :)

I got the motors for the shoulder and the elbow joint running. This thing is quite fast, and strong. I'm now working on the redesing of the other parts and the gripper. I hope I can grasp and move something very soon.

You can download the new shoulder here:

http://www.thingiverse.com/thing:639325

But I recommend to wait a little bit I had some troubles with the cable guides.

The very crude Arduino sketch can be found on github:

https://github.com/4ndreas/DummyRobotArm

This is part 5 of my robot arm project. This time I updated the shoulder joint with a dc motor driven one. It is finally powerful enough to drive the arm.

I uploaded the new Shoulder joint:

http://www.thingiverse.com/thing:639325

This is a first preview of the Gripper. It is a three finger design. I "copied" the mechanic for a comercial one. Not like measuring every part. I never have seen it in real. I just wachted the youtube video like 50 times.

Here is the idea, I was inspired from:

Does anyone know is it save to publish the stl files or can thy sue me?