jawher-mansour/cm6_cobot_robot

Files and intro page for first version of CM6 COBOT robotic arm

CM6 V2 Robotic arm

Our official website: https://source-robotics.com/
Join the discord community: https://discord.com/invite/prjUvjmGpZ

If you want to build old version of CM6 check branch CM6_V1

Main difference between V1 and V2 are in the drivers used. V1 used S-drive that was hard to source and had poor software support and were expensive while V2 uses Spectral drives that are much cheeper and have good software support and connectivity.

CM6 uses 6 gimbal BLDC motors paired with small gear ratio gearboxes ( from 5:1 to 9:1), by doing that it is passively compliant and safe. Each Joint uses an Spectral driver that is mounted on modular actuator designs for specific gimbal motors. Design can be changed easily by using different-sized aluminum extrusions or changing the gear ratio of modular gearboxes. The robots main goal is to be research platform for developement of compliant and safe robotics.

Note that this robot is not as refined as our other robots like PAROL6; some parts are hard to source and might be much more expensive. Building instructions are also not as good and you will need to tinker a lot!

Contents:

• Robot arm build instructions
• Robot python software and GUI *Coming soon

Where to see more CM6 robotic arm?

• Youtube
• Hackaday
• Instagram

Support the project

The majority of this project is open source and freely available to everyone. Your assistance, whether through donations or advice, is highly valued. Thank you!

Project is under MIT Licence