I would like to share my robot made based on Annin's project.
I used nema34 size motors in axis 1 and 2, nema24 size in axis 3 and 4, nema17 size in axis 5 and 6.
I used teensy 3.5 but with open loop mode because I havn't encoders.
My conception was to use laser cut metal parts (aluminium sheets). I used also popular parts like bearings, shafts, planetary gears, and belt and chain wheels.
Thanks for Chris to share his huge work.