Lotus 5-DOF robotic arm

I designed the rotating base of the arm with screw holes to mount each servo and connected this to a planetary gearbox with a 4:1 transmission ratio so that the first axis is able to have 120kg.cm of torque. Doing this means that it will be more accurate and precise and that the servo will be under less stress and will run at lower temperatures. I also designed the base frame which the servo sits in which has a nice pattern that i named the arm after. I finished by creating the brackets for the planetary gearbox and servo to be connected to the base frame, then recorded all the different parts needed for the robotic arm and completed the design stage.

I finished the timing belt system and then designed the head in order to allow a wrist roll mechanism on the end effector.
Because of the tiny amount of space available I had to make it as compact as possible using the smallest gears and bevel gears I could find. I then had to make sure I’d actually be able to put everything into place in real life so created all the required gaps in the head. (I also created the toolhead which can actually 3d print but I have no clue where the recording is and can’t remember if I even did record it).

After doing this I unfortunately had to stay in hospital for 2 weeks so I lost alot of time and focus but now I’m out and I created a sort of roof for each joint with cantilever clips that will snap into each wall and connect them together. These have holes which will carry cables and give the arm a much sleeker look.

Made parallel linkage mechanism and timing belt system. I started by making the system where a servo can control the end effector and then adding gaps in the linkage bars so that they don’t hit the end of screws. When i finished making that system I tried finding a way for the Feetech SCS0009 to be able to do the wrist roll and I spent quite a few hours on that until I realised it doesn’t even have enough torque so I would need to have a stronger servo for that. I decided on the Feetech STS3215 because that’s what all the other servos are so it would just be easier. I had to have it attached to the main frame and then I looked at some different ways I could control the wrist roll remotely, deciding on a timing belt drive system because parallel linkage mechanism wouldn’t fit. Making the timing belt system was super hard because I had really small amounts of space to work with so needed the smallest parts possible like the pulleys and the timing belts as well as the ball bearings and then have them all be screwed/connected to the main frame.