CHEAP robots can be BETTER.

3D Printed robots are great but they generally SUCK and they really don't come with much in them - UNTIL NOW.  Ususally its just stream joint positions from your downloaded AI model and hope for the best. AND if you want to train your model - YOU HAVE TO BUY 2 ROBOTS?? WHY WOULD YOU DO THIS!? 

Well that sucks. 

With A few improved design choices, some software improvements and a little extra power in there you can have something a LOT better. That's what this robot is, a much more SOLID and RELIABLE development platform. 

FYI - there's about a 3-4 week lead time as these are made to order!   

ALSO!! I will email you a set of STL & STEP files so you can print out replacement parts or modify your design! Just a word of warning– if you modify the joint locations it will break the kinematic solver. I will put up a tutorial on the github on how to recompile your own.

I HAVE NOW ADDED A GRIPPER !! --> https://cheaprobotarm.com/products/big-gripper

Also - it will now come with a 12v 100W power supply! 

Join the Discord! 

A highlight of improvements: 

1. 6 Degrees of Freedom - much more freedom and control! You like FREEDOM don't you? Are you not a PATRIOT!?
2. REINFORCED JOINTS! Each joint is made RIGID and STABLE through the use of large diameter bearings, tight fitting servo holders and 
3. A REAL, INDUSTRIAL GRADE KINEMATIC SOLVER! You nerds don't know what you've been missing. Use it to perform tasks OR generate training data for AI fine tuning. You know you don't need a second arm to train the robot with SHITTY DATA if you can program perfectly executed trajectories right?? 

Hardware

Standard set of hardware used on these small arms. 

• 6-DOF mini robot arm 
• 3D printed structure parts 
• 8x STS3215 12v 30 kg.cm servos 
• J2, & J3 use dual servos to drive them
• J4, J5 & J6 use a single servo
• J1 uses a heavy industrial tapered bearing and is driven by 10mm wide GT3 belt with a 1:1 gear ratio
• J4 & J6 are reinforced with 44mm diameter bearings
• I use a rasberry pi to handle the servo drivers, and control software as on-device control is much faster & more responsive + gives great expansion & control options 
• No set end effector (I do sell a gripper though!). Easily attach your own and update the config, no need to re-run calibrations etc. 
• As of the 6th of July all new orders will come with a 12v power supply - you will still need to DIY the wall / ac connection (its something like this fyi)
• I will have a URDF uploaded to the github for you to use.

Software: Free & Open Source + AI Ready Or Use Industrial Quality Kinematic Solver

You can operate in 2 modes

Mode 1: Streaming joint values: 

This one is easy- just stream joint positions (J1-J6 in radians) to the controller - currently setup via UDP. I have tested it via ISSAC sim to stream positions to - works well!

This is the same config that can easily recieve foundation model outputs. etc. I am keen to make it compatible with models like pi0 and compatible with the Le Robot framework too - just haven't gotten there yet (DM me on X if you want to help: https://x.com/terrorproforma)

Mode 2: Industrial Arm Mode: 

• software is free and open here: (https://github.com/terrorproforma/Gradient)
• it is a work in progress but comes out of the box with a number if options. Such as trajectory planing, orientation locking, realitime closed-loop trajecotry error correction or open loop. 
  • you can see more here: https://github.com/terrorproforma/Gradient/blob/master/docs/command_api.md
• The Kinematic Solver is the FASTEST you'll ever get. Single solutions on the pi5 clock in at 8 micrseconds ao you'll never be bottle-necked there.
  • The limit on how fast you can run is about 1430 Hz in open loop mode but i'd leave it at 1300 Hz max to account for jitter on the pi. This limit is not one set by the solver, its the limit of the FE-URT-1 board which has a max BAUD of 1000000. 
  • In closed loop mode its a bit lower as the bottlenack is the read_positions speed of the servos. This is about 600hz but i'd keep it under 400hz to be safe. 
  • I've also got smoothing functions to ensure we dont get crazy moves that require 180 degree turns in half a second. 
• I have a trajectory planner and cache to run stored processes.
• And soon I plan on adding controller support for use with a plug in xbox controller. If I sell enough robots I also plan to add support for the steam deck. 

I've probably forgotten some stuff but dm me if any questions:

https://x.com/terrorproforma