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a robotic arm with interchangeable attachments. It will have 5 axes.
a robotic arm with interchangeable attachments. It will have 5 axes.
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The three axes are driven by a lead screw and HTD3M belt system. A NEMA 17 motor is mounted inside the second section of the arm. The final axis is driven by a one-revolution servo. The gripper is mounted on a 10 mm bolt. All stepper motors will be connected to DM542 drivers 
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The 2 NEMA23 (2.2 Nm) motors will control the 2nd and 3rd axes. Both motors have a 17:1 gearbox and a 2:1 gear reduction. The first motor is connected directly to the first part of the arm. Its rotation is supported by two bearings (6806 and 608). The second motor controls the 2nd axis. The torque is transmitted through two pulleys and an HTD 3M belt. 
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The base of my robotic arm will be fully 3D-printed. The main gear that rotates the entire robot rests on six 607 bearings. This will make the robot's movement smoother and will reduce backlash. This is the first axis, and it will be driven by a NEMA 17 motor (40 N·cm) 