Uploaded February 2019 | Updated September 2026, 1 week ago

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Part 2 of the video now available at youtube.com/watch?v=RdmdFIhCo4M

This is a 3D printed robot arm. Credit to the design goes to Jeff Kerr, who goes by LoboCNC on Thingiverse. I show how to assemble the actuators since they are the most detailed part of the build. I will be running ESP32's in each joint so I can control each joint via Bluetooth/Wifi so I only need to run 2 wires to each joint for power. ChiliPeppr and Serial Port JSON Server will be used to control the arm once all the code is written.

Jeff Kerr's Robot Arm. Printables: printables.com/model/132260-we-r24-six-axis-robot-arm Thingiverse: thingiverse.com/thing:3327968
Jeff Kerr's Actuators. Printables: printables.com/model/132262-robot-actuators Thingiverse: thingiverse.com/thing:3293562
Jeff Kerr's YouTube Video of his final assembled robot: youtube.com/watch?v=7u_UjMB8tJI&feature=youtu.be

My Thingiverse Make: thingiverse.com/make:596644

Chilipeppr ESP32 for Lua Workspace where I'm writing the code for the ESP32's in each robot joint:
chilipeppr.com/esp32

3 steppers for small actuators:
moonsindustries.com/p/35mm-permanent-magnet-stepper-motors/35pm048s8-08001-000004611120001819

1 stepper for large base actuator:
omc-stepperonline.com/nema-17-bipolaire-45ncm-6374ozin-15a-42x42x39mm-4fils-w-1m-cable--connector.html

1 stepper for large shoulder actuator:
omc-stepperonline.com/nema-17-bipolar-59ncm-84ozin-2a-42x48mm-4wires-w-1m-cable-and-connector-17hs19-2004s1.html?search=17HS19-2004S1

1 stepper for medium elbow actuator:
omc-stepperonline.com/nema-17-bipolar-18deg-22ncm-31ozin-133a-28v-42x42x34mm-4-wires-17hs13-1334s.html?search=17HS13-1334S