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6-Axis Robotic Arm

6-Axis Robotic Arm

Leading a multidisciplinary team developing a modular, 3D-printed, 6-DOF robotic arm with custom cycloidal actuator and ROS2 framework.

Sep 2024 — Present
in progress
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

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