News Robot Arm

Sixi robot ROS package

Sixi robot now has a URDF description and can be found on the ROS wiki.

ROS (Robot Operating System) was first developed by Willow Garage, a Boston robotics company. Though Willow Garage no longer exists, the ROS has been so successful that it has outlived its creator.

Since ROS is such a popular tool, I hired sachinkumar1235 on Fiverr who built the URDF package. It includes decimated STL files created by Andre.

You can now find Sixi robot on the ROS wiki, or grab the package directly from the Sixi robot github project.

Robot Arm

A Sixi Robot cycloid gearbox eccentric cam shaft

An eccentric cam shaft is at the heart of our cycloid gearbox. Any force acting on the gearbox is focused at this point. So it makes sense that a good gearbox has a super strong cam shaft. This design is made to connect on a motor with a 1/4in diameter shaft, which happens to be the same as the NEMA23 motor in the elbow of the Sixi Robot.

Want to practice your CAD skills? Try making a 3D model of this part, yourself. Tag us on social media if you do!

Here it is inside the gearbox.

News Robot Arm

An ISO compliant Sixi hand

A good designer and leader knows when to say “no”. In today’s example… I have tried several times with the help of Instagram friends and my own employees to build a gripper that we can use with the Sixi robot. I decided, finally, to say No. We’re in the robot arm business, not the gripper business. If that’s true then how will Sixi hold grippers made by other people?

“ISO 9409-1:2004 defines the main dimensions, designation and marking for a circular plate as mechanical interface. It is intended to ensure the exchangeability and to keep the orientation of hand-mounted end effectors.”

https://www.iso.org/standard/36578.html

Are you looking for a challenge? How about making a gripper that works with our STL model of the hand? Then it should work with all commercial robot arms that match the standard, too.

Here’s a link to the DIN EN ISO 9409-1-50-4-M6 STL file.