Bench-test the first joint
Connect the motor and driver, confirm the direction of motion and check whether the printed planetary mechanism runs without binding.
Robotics build · In progress
Building a six-axis robot arm.
An early-stage build of the 3D-printed WE-R2.4 robot arm, beginning with the mechanical assembly and validation of its motor-driven planetary joints.
Current state
Starting with the mechanics.
I have printed the robot arm parts from the WE-R2.4 model and started assembling one of the joints. A motor has been installed into the planetary joint, but the completed joint has not yet been electrically tested.
This page is a build log rather than a finished case study. It will be updated as the mechanics, electronics and control system move from individual components to a working six-axis robot.
PrintedRobot arm parts
AssembledFirst planetary joint
Next proof pointControlled joint movement
Build roadmap
What happens next.
Evaluate the mechanism
Inspect backlash, output movement, noise, heat and the joint’s ability to carry load before repeating the design across the arm.
Build the control system
Develop the ESP32-based electronics, motor-driver setup, power distribution and limit-switch strategy for coordinated motion.
Honest project status
The mechanism is built, but not proven yet.
The next meaningful milestone is a repeatable powered movement test. Results, failures and design changes will be documented here as the project progresses.