Building a 6 Axis Robot Arm from Scratch - 1
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- เผยแพร่เมื่อ 8 ก.พ. 2025
- Homemade/ DIY aluminium six axis robot arm from scratch with servo drives and absolute encoders. This video shows the design, machining and the current status of the build. I started with building the first 4 of 6 axis, to be able to make some changes on the way if necessary.
The idea is to design and machine the structure of the robot from scratch as well as the servo drive system, modeling and control (programming). The main goal is high performance at a low price.
If you have any questions: leave a comment or feel free to contact me: info@EngineeringSpareTime.de
Smaller updates to the project via Instagram: @Engineeringsparetime
As a mechanical engineer myself I truly appreciate your build quality and your overall design. Well done. I definitely stay tuned.
Thanks - I appreciate it :)
@@EngineeringSpareTimedo you sell the design or whole robot arm?
That is certainly a beautiful machine. Please share more.
Wooow that mirror quality and the design is really beautiful. I’ve enjoyed every second of the build. Thanks for sharing!!
Thank you! A new video about it is coming in the next weeks :)
All of these parts are utterly gorgeous! So clean and elegant despite their complexity.
Can't wait to see it in action, and completed with all 6 axes.
Thank you :)
until the servo drive is working, I’ll continue with the mechanics. Next video will be about the drives and probably some first movements.
Dude! This is awesome! Your content is quite inspiring to me, so thank you. :) Now that my semester is over I can get back to working on my own CNC mill.
Thanks! That’s nice to hear. I wish good success with your build
Can we expect a part 2 of these build series?
Nice work btw👌🏼
Yes, I’m in the process of finishing my studies. In a few weeks I’m planning to create more videos again. The robot is running now, so there is lots to talk about :)
@@EngineeringSpareTime hopefully you continue doing updates. ! High quality work !
Holy shit, this is truly incredible work!, please continue to share your projects.
Tremendous! I guess you know how your spare time over the Christmas / New Year break is going to be spent!
Thanks for the video... Liked, already Subscribed.
Thank you - I appreciate it. Yes, I‘m going to start with the servo drive PCBs.
Got a new fan here. Had to build my CNCs first but its all for the same reason as you;)
These parts are gorgeous.
Huge kudos for design. Especially on printed parts.
dude please upload a part 2!!!! This is so interesting!
wonderful project
This is great!! 🤩
Thanks! Your robot too!
Beautiful work. A few questions here.
1) Calculated weight of each joint and robot arm as a whole and expected lifting power from servos of each joint? Gripper (last joint) lifting power?
2) Cycloid gears, so almost no backlash?
3) You say 6 axis does that mean a true 6 axis with all the mathematical calculations of forward and reverse kinematics that go with it?
4) Will you write your own program from scratch or use something as a base?
so frickin good wow!
I’m relatively new to machines and cad in general and I recently got a cnc machine for a good price. It would be great if you included a parts list so I could get a bit better grasp on this because it truly is amazing. Thanks!
Thanks! I want to see how it turns out first, if everything is working as intended I can provide a overall description of the project :)
beautiful parts.
I'm really curious about the wrist system.
what was your approach with bearings? i thought i saw both thrust needle bearings as well as some ball bearings, how were those configured?
Hello, this is awesome! I want to build an arm as well. How did you program the motion of the robot?
I love this!!!
so close to those tall bolts~~!😱
Beautiful. What aluminum alloy you used for milling, please?
Will there be a part two? Would be really awesome!
Any indepth video coming on this soon? 🙏🏼
Trying to make a robot for school, can you link the motors and encoders/electronics you used to drive them?
Broh this ist so nice to see, do you got any stl‘s or something u would share?
I hope you will use harmonic drive reducers to get a good repeatability (and to get more torque also) for your robotic arm. For industrial class robotic arms of this size repeatability is < 0.1 mm and payload at least 5 kg.
The system is based on belt transmissions, this reduces cost drastically. With the control strategy I will use, it should be possible to take into account the flexing introduced by the belts. ..
At least 5 kg: This is mostly restricted by position and acceleration in industrial robots. I am planning with 3 kg in all poses
The masterpiece.
We need more
sick
The biggest problem is that such beautiful projects are not open source. For-profit companies already have their own projects, they cannot watch these beautiful videos and say "wow". But we students receive education in different branches. For example, I am a software developer. Now, if the files of this project were ready, I could print it on a 3D printer and try to develop software on it. But this is not shared as if it were a state secret. What do you think I should do? Should I study mechanics at the same time?
very smart.
What is the absolute encoder you used? I use hollow shaft potentiometers from P3 America in mine
It’s an RLS Orbis magnetic encoder
Servos motors number serie or name ?
I would like to try to build with 3d printer.
We have the same taste, you and i. It's not ambition, it's ambitions opposite...
Which cnc do you have?
Check out my video on building it :)
Boa noite ! Você tem o projeto para disponibilizar ?
Um br
What could be the cost of something like this
...
This depends on the quantity, version (double position measurement..) and included software. To name a range (hypothetical selling price): about 3-6k. Just the hardware incl. drive system would be the lower end .
The system can further be optimized for production though..
Could I commission you for a helper robot arm for filming product reviews????
Where do you get your aluminum plates?
I got them cut by a local laser cutting service. This is not too expensive and it would just take too long to mill the overall shape on my cnc - not worth the time.. other than that, I get the Aluminium in an online shop that’s sells even small quantities for a reasonable price
What's the payload on this arm?
Max. 3kg
I miss somehow the demo of the arm ...
Yep, u are right, this is just part 1 - I am working on it. The next video will follow in the next few weeks. You can check my Instagram @engineeringsparetime for incremental updates, there are already some short videos of the movement :)
Which lathe machine you use?
It’s a Wabeco D6000
@@EngineeringSpareTime thanks
CAN YOU GIVE ITS MEASURMENTS
Hanzhen harmonic drive gear , over 30 years experience , robot arm gear ,,
It's not being built from scratch😭😭😭
It is :) what makes you think this?
Which cnc do you have?
The CNC is selfmade - there is a video about it too :)