3D Printed 6-Axis Robot Arm v10 (NEMA 23) -- Printed Harmonic Gearboxes, 0.5 kg Payload, STL + STEP

6-axis desktop robot arm where every joint is a printed strain-wave (harmonic) gearbox on its own stepper motor -- no belts. Designed and checked in CAD and simulation. - Reach 708 mm, **payload 0.5 kg rated** (0.71 kg calculated max) - **Speed:** joints up to 120 deg/s (shoulder 45 deg/s), gripper point up to 0.74 m/s - Motors: NEMA 23 (J1-J3) + NEMA 17 - 3-finger soft fin-ray gripper, self-locking lead screw - Every part prints on a 220 x 220 x 250 mm bed; STL already oriented, STEP included,…

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