This design is a work in progress, there are many things which must be validated, changed, and finished before we build it.
This is the second iteration I have designed of the 6DOF arm for the NURover URC competition, this time using a much improved design by using harmonic gearboxes, tube construction, a virtual four bar, and absolute ring encoders. This is a major improvement over the previous design which used planetary gearboxes, and therefore was very backdriveable and had to be constantly held up using torque from the motors. In addition, these gearboxes have much less backlash which should make the arm much more precise, and it should have less slop in general due to the general construction.
This was designed entirely by me in SolidWorks, using a master sketch driven by equations which allows all the dimensions to be controlled parametrically
https://grabcad.com/library/wip-new-nurover-6dof-robotic-arm-1
See the first version of this arm, also designed by me here:
