Functional KUKA KR350 Scale Model 3D Printed 

I actually downloaded those from GrabCAD and modified them to fit

That's because simultaneous 5/6 axis 3d printing would be a programming nightmare. That being said there are some 5 axis FDM 3D printers people have built on youtube that are really cool.

One can dream lol

Thanks! There just some infinite GT2 belts. There tensioned by moving the idler pulleys further out on a slot in the wrist and held there by some jamb nuts against the frame. I have no idea how kuka tensions their belts but this was the best method I could come up with for the scale of the arm.

_"axis 5 & 6 are both ... independent instead"_ not really. When the 6th axis spins on it's own the 5th one requires input of both the 5th & 6th motors simultaneously in order to keep 6th axis bevel gear stationary in reference to to the 5th joint angular position. So in other words the input bevel gear of 6th axis should make 1 revolution per one revolution of the 5th axis in order to keep the angular velocity of 6th joint at 0 (zero) while 5th axis in moving. Here you can see how it looks like: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-iblqrfu5wdw.html ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-IbQUc3VW1qo.html Moreover, in this particular robot arm design three motors of 4th, 5th and 6th joints respectively have to give input at the same time just to move 4th axis only.

No current plans, I really wanted to see if I could get the wrist mechanism to work

Thanks! it's been a side project for about 3 months now

Untested, but there's a lot of backlash due to the universal joints, they were advertised to be used in an RC car..

Thanks, yeah there not ideal but they were the best option for a prototype/proof of concept

If you phase the two universal joints by 90 degrees, the uneven rotation from the first is canceled by the second one. This results in a constant velocity output matching the input, albeit with the intermediate shaft having a varying rotational speed.

It's not of choice of precision, but of budget.

Just uploaded some STEP assemblies to the GitHub, enjoy

If I had to guess it's in the low triple digits lol

@@coybeardmore Do you have the stl files for others to use?

Fixed it, it should work now

Just posed onto the GitHub :)

@@coybeardmore Wow awesome!!

@@coybeardmore I was looking over your parts list. What did you use for the outer barrel that drives axis 6? I was searching for hollow transmission shafts which are quite expensive, but I supposed you could make one from a tube and some flanges…

Thanks, keep an eye out and I think you'll like the next project ;)