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Sixi 2 Robot Arm

Sixi 2 is an open source industrial robot arm. It is designed with six degrees of freedom and can hold 2kg at 80cm. Some examples of it in action:

Videos

Motivation

3D printers can print parts for themselves, but they cannot self-assemble. The long goal of the Sixi is to build a machine that can assemble copies of itself.

When 3D printers were closed source, they started at $10k. Makerbot and Prusa changed the game by bringing high quality open source 3D printers down to $2k. Marginally Clever Robots, Ltd. aims to be the Prusa of robot arms.

This repository

This repository contains:

  • The STL files from the stable version
  • The bill of materials (BOM.csv)
  • Issue tickets specifically related to the hardware.
  • ROS package.

This repository does NOT contain:

Notes

The BOM.csv lists all the parts in the kit, most of which are off-the-shelf. Some parts are manufactured.

[LSR] laser cut
[CNC] metal cut on a CNC mill
[3D]  3D printed PLA plastic.

All the 3D printable parts were produced on a Prusa MK3S. Parts are carefully designed to have a minimum of support material cleaning. Please see STLs/STLPrintSettings.csv for recommended layer height, speed, color, etc.

The Sixi has no glue because we like operations that can be undone.

Collaborate

We love collaborating! Let's make great things happen together.