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os-arm's Introduction

OS-ARM

An open-sourced, low cost, high performance 3D printed 6-axis robotic arm. The main goals of this project are

  • Smooth, repeatable motion
  • ~1kg payload
  • ~500mm range
  • Low cost (<$500 in materials)
  • Easy to reproduce (only requiring an FDM printer and basic hand tools)
  • Beautiful
  • Easy to control

This arm is not industrial and it will not be fast, but that is not my goal. But it will hopefully be a very nice looking arm fully capable of 6dof motion, cheap enough to keep it accessable but capable enough to actually do something (aka carry more than a 50g payload). This is not your typical RC servo arm. It's gonna be epic.

Developemnt will likely take multiple years. This repo will be a work in progress until stated otherwise. Use these files at your own risk!

os-arm's People

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os-arm's Issues

Reduction ratio

So, i am modifying v2 harmonic drive (for my motorised telescope mount) and i am trying to figure out what is actual rediction ratio for it. As far as i understood one of the rings has 70 teeth and 68 another, meanwhile spline has 66 teeth... could not find any info on that.
Thanks

Different Modules Gear Meshing

Can someone explain how the gears mesh? I'm currently working on my own harmonic drive with different gear ratio and am using this as a reference on how to go about printing it.
Looking at the CAD files the ring gear and the flex spline have 70 and 68 teeth. When creating the gear in Inventors Spur Gear generator there is too much overlap in teeth to allow the flex spline to mesh. This design seems to be using two different gear modules to create more of a gap. has anyone encountered any issues with gear meshing or tips to know while printing?
Thanks in advance.

Cooperation proposal

I would like to contribute to your project with my long-term experience in mechanical design. I just finished the efector robot commercially. Now I work most often in Fusion 360, but I also know many other CADs. I can work on this project for free. Contribute ideas, technical solutions or even model individual parts. I can also prepare and test prototypes. I also have 3D printing and small machinery.

Export to other cad formats

Hey, do you mind exporting the gearbox design to solidworks or STEP? I guess I'm working with some pretty old CAD as it's erroring out trying to import the ipt/iam files.

what program is required to edit the files?

Novice question here - what program is required to edit these files? Are there any free / freemium programs which would allow access?

Not asking you to change the way you work - thanks so much for opening this up! But a simple programmer like myself with no CAD experience would just like to know how to cut his teeth.

Thanks!

lever at power off

curious.
when the power is turned off.
does the lever arm rotate clock wise or counter clock wise easily

Motor coupling missing?

Hello DDeGonge,
I like the design of your 75mm harmonic drive, and I want to use it to drive a sand feeder for my sand spreader on the back of my garden tractor.
I printed all of the .stl parts from the V2 folder, but the wave generator is not the same as the one in your video, its obviously a newer version. There appears to be a coupling of some sort that goes between the wave generator and the motor. I've looked to see if I have missed a file, but I can't find it. Is that hiding somewhere?

Thanks for all of your work,
Eufrades

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