4-Axis Robotic Arm
A completely custom, 3D-printed PETG robotic arm engineered for micro-manufacturing, fragile parts handling, and robotics education. Driven by a custom bare-metal STM32 firmware architecture.
- Target Payload ~250g
- Controller Stack BigTreeTech SKR 3 (STM32H723)
- Actuation 4x NEMA 14 w/ TMC2209
- Software Environment micro-ROS / ROS 2 Jazzy
Hibiscus Cycloidal Gear
A custom 30:1 sub-assembly drive system featuring a dual-disk design to eliminate motor vibration for highly precise joint actuation.
- Reduction Ratio 30:1
- Profile Configuration Dual Disk Setup
- Hardware PETG, Dowel Pins, Bearings
- Status Active Print Testing
Bare-Metal Architecture & Motor Control
Repurposing the SKR 3 motherboard from a 3D printer controller into an industrial-grade, 4-axis robotics node using the STM32 toolchain.
- Configure STM32H7 MPU, HSE clock, and GPIO routing for high-speed STEP generation.
- Establish a 50 kHz hardware timer interrupt for perfectly synchronized microstepping.
- Construct a "C" wrapper to bridge auto-generated C STM32CubeMx code with Object-Oriented C++ libraries.
Hardware Fabrication & Local Kinematics
Bridging the gap between raw hardware assembly and localized motor control to verify physical viability.
- 3D print PETG chassis elements and assemble the 30:1 Hibiscus Gear.
- Initialize and tune the TMC2209 stepper drivers over UART within the C++ sandbox.
- Execute raw joint movement scripts for payload stress testing (~250g).
micro-ROS Pipeline & Digital Twin
Establishing the high-speed communication bridge and generating the exact digital representation of the physical robot.
- Open a 48 MHz USB CDC Virtual COM Port for seamless micro-ROS data transport.
- Generate comprehensive URDF/SRDF physical description models.
- Ensure the kinematic chain renders flawlessly inside the ROS 2 Jazzy environment.
MoveIt2 & Web Simulation Integration
Fully autonomous path planning combined with a seamless remote monitoring experience.
- Integrate an automated C++ path planning pipeline for complex maneuvers via MoveIt2.
- Map physical joint states directly to the Three.js WebGL viewer.
- Prepare and publish the final open-source repository.