Cybot - Cycloidal Disk Robot arm

cults3d

This is a six axis dof cycloidal drive robot arm. The download is a zip file with all stl needed to build this robot arm from scratch. It also contains a pdf documentation with list of hardware to use and assembly instructions. You can contact me for any questions, I will help you if needed for the assembly. I'm still working on the design and will release new update here available for you. 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. You can contact me by email before buying the files if you have any questions. Be aware that some 3dpart are big and may not fit your printer, I used an Anycubic Chiron for some of them. But some people requested a print to external company If you want the gripper, I made another free design here https://cults3d.com/en/3d-model/gadget/cybot-gripper-for-cycloidal-disk-robot-arm I plan to make more fun design for this robot , for free , so if you want to get them you can follow my profile here. This is a 1 year project I made during my spare time, so I worked a lot of days to this design, but remember : This is just for fun ! This being said, enjoy the design, the robot is very fun to play with :) :)