https://github.com/pcrnjak/cm6_cobot_robot

Files and intro page for first version of CM6 COBOT robotic arm
https://github.com/pcrnjak/cm6_cobot_robot

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Files and intro page for first version of CM6 COBOT robotic arm

• Host: GitHub
• URL: https://github.com/pcrnjak/cm6_cobot_robot
• Owner: PCrnjak
• License: mit
• Created: 2021-05-23T18:58:49.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2024-06-19T10:33:40.000Z (7 months ago)
• Last Synced: 2024-12-21T15:07:16.706Z (16 days ago)
• Language: Python
• Size: 27.2 MB
• Stars: 168
• Watchers: 9
• Forks: 18
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Funding: .github/FUNDING.yml
  • License: LICENSE

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README

        

[![License: MIT](https://img.shields.io/badge/License-MIT-green.svg)](https://opensource.org/licenses/MIT) ![Issues](https://img.shields.io/github/issues/PCrnjak/CM6_COBOT_ROBOT) ![release](https://img.shields.io/github/v/release/PCrnjak/CM6_COBOT_ROBOT)

# CM6 V2 Robotic arm

Our official website: https://source-robotics.com/ 


Join the discord community: https://discord.com/invite/prjUvjmGpZ



**If you want to build old version of CM6 check branch CM6_V1**


**Main difference between V1 and V2 are in the drivers used. V1 used S-drive that was hard to source and had poor software support and were expensive while V2 uses [Spectral drives](https://github.com/PCrnjak/Spectral-Micro-BLDC-controller) that are much cheeper and have good software support and connectivity.**

CM6 uses 6 gimbal BLDC motors paired with small gear ratio gearboxes ( from 5:1 to 9:1), by doing that it is passively compliant and safe. Each Joint uses an [Spectral driver](https://github.com/PCrnjak/Spectral-Micro-BLDC-controller) that is mounted on modular actuator designs for specific gimbal motors. Design can be changed easily by using different-sized aluminum extrusions or changing the gear ratio of modular gearboxes. The robots main goal is to be research platform for developement of compliant and safe robotics. 

***Note* that this robot is not as refined as our other robots like PAROL6; some parts are hard to source and might be much more expensive. Building instructions are also not as good and you will need to tinker a lot!**

# Contents:

- [Robot arm build instructions](https://github.com/PCrnjak/CM6_COBOT_ROBOT/blob/main/assembly_instructions_v2.pdf)

- [Robot python software and GUI *Coming soon]()

# Where to see more CM6 robotic arm?

- [Youtube](https://www.youtube.com/channel/UCp3sDRwVkbm7b2M-2qwf5aQ)

- [Hackaday](https://hackaday.io/project/180588-cm6-compliant-3d-printed-robotic-arm)

- [Instagram](https://www.instagram.com/source_robotics/)

# Support the project

The majority of this project is open source and freely available to everyone. Your assistance, whether through donations or advice, is highly valued. Thank you!

[![General badge](https://img.shields.io/badge/PayPal-00457C?style=for-the-badge&logo=paypal&logoColor=white)](https://paypal.me/PCrnjak?locale.x=en_US)

[![General badge](https://img.shields.io/badge/Patreon-F96854?style=for-the-badge&logo=patreon&logoColor=white)](https://www.patreon.com/PCrnjak)

# Project is under MIT Licence