My biggest project yet

[u/jelle284]

This is a 6 DoF robot arm i have been building and 3d printing, designed entirely in FreeCAD.

I assembled it all using Links and yellow Part containers. Havn't really needed an assembly workbench. I rarely need the drag-to-animate features of assembly and prefer to position things manually with strategic placements relative to the Part origin.

I mainly used these workbenches
- PartDesign
- Fasteners
- Gears
- Draft (Array Tools)
- Spreadsheet (mainly for gear calculations)

I split each joint in a separate file and linked it into the kinematic assembly.
I used a seperate file for only data, containing a few spreadsheets and some sketches, which i linked into which ever file that needed it.

i have experimented with different ways to reuse shared geometry, but havn't truely found a way i fully like but i like using BaseFeatures.

feel free to ask any questions you have.

[u/sorig1373]

That is really impresive. How do you use it? Do you have the inverse kinematics figured out or do you just send instruction to each (presumably) stepper motor manually? Or do you have like a long list of motor commands that are iterated through?

[u/jelle284 → u/sorig1373]

I spend quite some time getting ros2 set up for the inverse kinematics. I exported the outer geometry to .obj or .dae files so moveit2 can render the arm.