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
- https://www.instagram.com/p/B56L99UnWkN/
- https://www.instagram.com/p/B6L7YMTnthS/
- https://www.instagram.com/p/B6jtXw5HbRo/
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:
- Assembly instructions + software guide: https://mcr.dozuki.com/c/Sixi_2_kit_Asssembly
- Robot Overlord app to simulate, drive, and test Sixi: https://github.com/MarginallyClever/Robot-Overlord-App
- Makelangelo Firmware in the Sixi's brain: https://github.com/MarginallyClever/Makelangelo-firmware
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.
- Discuss the project in our Discord: https://discord.gg/p2NRZFxXbh
- For a link to the Fusion files, become one of our Patreon supporters: https://www.patreon.com/imakerobots
- See also the ROS.org wiki page: https://wiki.ros.org/Robots/Sixi