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6-Axis Robotic Arm
6-Axis Robotic Arm

6-Axis Robotic Arm

A, 3D-printed, 6-DOF robotic arm with custom cycloidal actuator and build on ROS2 framework to use tool such as Gazebo and Moveit2 along with our custom hardware, URDFs, Controllers interfaces for our custom robot.

Jul 2024 — Apr 2025
IEEE Concordia
completed
ROS2PythonInverse KinematicsComputer VisionJetson Nano3D Printing
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Overview

Leading a multidisciplinary team of 6 (MECH, ELEC, and SOEN students) in developing a modular, 3D-printed, 6-DOF robotic arm with a custom cycloidal actuator.

Technical Details

Mechanical Design

  • Custom cycloidal actuator design for high torque density
  • Fully 3D-printed modular construction
  • 6 degrees of freedom for full workspace coverage
  • Optimized for repeatability and precision

Electronics

  • CAN bus for robust single serial control of each joint
  • ESP32 as the main hardware controller
  • Jetson Nano as the solver and Dev Machine

Software Stack

  • ROS2 framework for control and coordination
  • Precise closed-loop controller for each joint
  • Inverse kinematic solver for 3D space retracing
  • End-effector alignment system for precise manipulation

Computer Vision Integration

  • ML-based object detection using MediaPipe
  • Computer vision running on Jetson Nano
  • Real-time inference optimization for responsive control

My Role

  • Project lead overseeing task assignments and deliverables
  • ROS2 setup and architecture decisions
  • Integration of vision and control systems
  • Mentoring team members in robotics software development