Mini 6 dof Arm. 3D printed planetary gearboxs & more… [📍GitHub link below ] A mini 6-axis arm driven by stepper motors with custom 3D printed split ring planetary gearboxs and an inverted belt differential wrist with custom bearings, driven by low-cost stepper motors and TMC5150 drivers. Custom firmware was written in C for the STM32 MCU on an BTT Octopus board, to allow for full closed loop PID control using AS5048a encoders daisy-chained over SPI. The controller takes joint targets and returns joint states to a Raspberry Pi 5 streamed over CAN bus. All credit to @JamesGullberg: 📍GitHub: —— Weekly robotics and AI insights. Subscribe free:

Mini charts now render inline on Trenches Read the move without opening the token. On by default; Customize → Data → Mini Chart to choose which tables show it, tune size and opacity, or turn it off.