Robot 6 DOF

Hi everyone,

I’m sharing with you my 6DOF Robot.

I’ve included the STL files and the SolidWorks source files (2018 version) since I didn’t have the time to finish the project.
In the zip file, you’ll find a PDF containing the DH parameters, the A06 matrix, and all the mechanical components (screws and bearings used in the project).
I think with ChatGPT, we can generate the forward kinematics (MGD), inverse kinematics (MGI), the Jacobian matrix, and even write Arduino code to control the end effector.

To print the robot, I used approximately 1.4 kg of PLA, including prototype pieces.
I recommend checking and, if needed, modifying the SolidWorks project.

The robot is equiped by :
3 nema 11
- Axis 4 gearbox box 1 :19
- Axis 5 gearbox box 1 :19
- Axis 6 gearbox box 1 :19
3 nema 17
- Axis 1 gearbox box 1 :50
- Axis 2 gearbox box 1 :50
- Axis 3 gearbox box 1 :50