Every part of
a robot arm,
as a file.
RB-6 is a six-axis desktop robot arm with a 33:1 cycloidal reducer of our own design in every joint. You download the files for the printed parts and make them on your own printer.
Cycloidal drive.
Two discs running 180° out of phase, an eccentric shaft and output pins. 33:1 reduction, low backlash, one module.
With standard parts.
The discs are printed in PETG, the housing and cover in PLA. Bearings and screws are off-the-shelf; no machining required.
The same module in every joint.
The reducer mounts directly on a NEMA17 motor; all six joints of the arm use the same module.
Three packages, one system.
The reducer files, the robot arm package and the control software are ready; the sales launch will be announced soon.
Cycloidal Reducer
A 33:1 reducer made on a desktop FDM printer. Printed parts, assembly guide and bill of materials included.
RB-6 Robot Arm
All printed parts of the arm, NEMA17 mounts and assembly sequence. Each joint uses one cycloidal reducer.
Control Software
Windows desktop app: joint jogging, pose recording, live gauges and a 3D view.
More torque in the same volume.
In a cycloidal drive the load is shared by many pins at once instead of a single tooth. Compared with a planetary gear, it offers lower backlash and quieter operation.
Support-free orientation; tested at 0.2 mm layers and 30% infill. Discs in PETG, other parts in PLA.
The STL + STEP option includes the STEP file, so you can adapt the dimensions to your own motor.
Six axes, closed-loop drive.
Every joint has a NEMA17 motor and a 33:1 cycloidal reducer. The drivers are MKS SERVO42C and the controller is a custom board on an Arduino Mega. Kinematics are computed on the PC; the board only generates steps and reads position feedback.
- Forward and inverse kinematicsA numerical solution based on the DH model, the Jacobian and damped least squares (DLS); it passed an acceptance test of 5,000 configurations.
- Trajectory planningPoint-to-point, linear and jog motions with a trapezoidal velocity profile. Moves that exceed a limit are rejected.
- Desktop appA live state stream and a three.js 3D model; ships as a Windows installer.
- Hardware emergency stopAn NC relay independent of the software; a single 24 V / 15 A supply line.
We announce new releases by email.
New files, release notes and assembly videos. At most one email a month; unsubscribe at any time.