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Using mostly 3D printed super cheap actuators (around 32 $ per actuator), I have build a robot arm based on stepper motors. This robotic arm uses widely available parts.
Cheap Robot Joint
This is my latest stepper version of my compound planetary gearbox. It has high reduction ratio and two cross rollers bearings. I plan to design a complete robot arm with such actuators.
Controller for industrial Robot Arms
I have made a Robot Arm controller for my IGUS robot arm. It uses TMC5160, Teensy, Raspberry Pi and PS4 joystick.
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