That looks awesome, I'm not familiar with ROS/ROS2, would this run on a light client like a Pi ? Also, does your driver also control the nano/gripper ?

I still haven't debugged by AR3 yet but count me in for the AR4 effort. I can prototype anything on my CNC and help with the mechanical design and sims

that makes for a clean wiring box ! Great job !

The opposite in fact, the calibration process (I run only one axis at the time after I jog to roughly the center of the range) stops before hitting the switch. I get the message "calibration successful" but then I have only a very limited range of motion

Very impressive work - I join the chorus of people interested in your program !!!

Hi, In order to machine these parts all you need are the STEP files that Chris is selling on this site. I converted these files to Fusion 360 and added the CAM operations. I can't share that with you since Chris sells the 3D model I used to generate the CAM but I will be happy to share the F360 files with anyone that purchase Chris's model. To answer your other question, with the right tooling I'm sure you could do most of the robot on the CNC 3 axis mill (like I did). I had to 3D print 1 part ( J4 timing hub) and I found that 3 parts are much easier to do on the lather (J1 turret, J1 spindle, J2 spindle) and you have to buy precision stock for J4 timing tube. If you need these 3 parts don't hesitate to contact me and I'll help you with the lathe work

I was able to complete the wiring, the programing and the first tests, there are good and bad news: 1. J1 skips, I have about +/- 10 degrees of joint movement before the motor skips. I need the check the set screws and the pulley tension 2. J2 motion is good 3. J3 only goes in one direction (-) or down - can't manage to have it go up. I also have a lot of slop in J3 when I move the joint manually - I'm going to try to tighten the chain a bit. 4. J5 works fine but I think my alignment is off 5. J6 works good 6. I have tried to home the joints that move correctly individually but I get an error every time saying the joint is out of calibration. I guess the encoder response doesn't match the motor target position. 7. I have tried the limit switches manually but they do not seem to response. Is there a way to troubleshoot the inputs (Limit switch and encoder data ?) Any help or suggestion welcomed

Before After Now I just need to teach AR3 how to clean ... :)

Today I received the gripper so I proceeded the mill the LAST part of the build: the gripper holder

And with the final wire soldered this is the time to close the box... Which is honestly very similar to this With this (and the missing gripper) the arm portion is now complete - I was able to focus on the controller assembly

This WE I was able to work on the assembly with all mechanical joints completed Soldering of motors is also completed, along with limit switches and encoders 1,2,3 I hope to be able to complete the arm wiring tonight and start focusing on the controller next

Just for fun - here are the parts that didn't made the cut.... From left right: • check the orientation of your part when you flip it for OP2... • Drill the big holes first on a curves surface • check that your chuck is tight when facing a part or it will go flying • Sometimes you just need a 4th axis ! • Remember to check the clearance of your tool holder/length of your cutter in CAM.... But overall 5 bad parts and 28 good ones in just 21 days - not too shabby

This gives a positive stop to the rotation of J2, without it one would rely on the 4 screws connecting J2 Turret Housing to the platform. It's harder to manufacture but a better mechanical solution.

And here are 2 more parts : J6 housing - I machined it on the CNC exclusively (6 ops) and no lathe - a bit unconventional but it sort of worked And finally J6 bearing cup - another part that required a second take....remember to tighten your vise/chuck folks... I plan to machine the gripper mount later as I haven't received he gripper yet and I want to make sure it will fit. Now I'm going to focus on assembly and wiring

And one more part (J6 Main bearing arm) and a bit of assembly for tonight With this done I'm left with 3 parts to machine and about 86% completion rate of the machining

Great build - thanks for sharing, I too am building the robot in aluminum and my setups and fixture are very different - I learned a lot from your experience.

And now 2 parts for J5: the belt carrier and the tension block Only 6 parts left to machine !

Today J5 housing - pretty intensive machining (7 operations total) but result looks all right

And finally a lot of assembly to get to this stage where the ARM, J2 and J3 are pretty much done

I wasn't sure I could machine the J4 timing hub but I gave it a shot anyway. The timing belt does engage but seems to slip because the teeth are too shallow (my smaller endmill that can go this deep is 1/8"). So I resorted to 3D Printing the part for now (until I get a 4th axis :))