Bladerunner

6 DOF Robotic arm

March 2023 - Present

As my interest in robotics grew, I felt this deep urge to go on a learning and experimentation spree. Building this robotic arm has been the best way to satiate this urge. It is also incredibly enjoyable to see the robot move.

Bladerunner is a fully custom-built project where I personally designed all key elements, including the actuators, mechanisms, and circuitry, from scratch.

The only off-the-shelf components used are NEMA 17 stepper motors, 12-bit encoders, motor drivers, and microcontrollers.

Primary Task: To serve me panipuri !

It is a rather complicated Indian scak to serve in terms of manipulation and perception.

Check out my day-to-day update on my X page.

Cycloidal carrier being machined

Thanks to the Bambu lab P1S my life has been much easier. Actutors in J3, 4,5,6 have been designed multiple time over. I tested cycloidal, strainwave and planetray gear actuators.

Let’s check out some of the prototyping.

J1 Assembly

A Fusion360 Render

J2 Assembly

Joint Details. Each actuator is powered by 4 kg.cm stepper motors

Current Status:

I am wiring the robot, routing cable, and connecting the motor drivers. Each actuator has been tested and encoders have been installed. The control circuit has been assembled. Here are some of the latest pics.

Up Next:

Designing power electronics encloser, and programming.