This project is a fully custom-designed 6 Degrees of Freedom robotic arm built to deliver precise, stable, and efficient motion for tasks such as pick-and-place, sorting, assembly, and object manipulation.

I wanted to try making a robotic arm since i watched iron man so i did

The arm operates using six independent joints

1st DOF – Base Rotation (Herringbone Gear Drive)

The base uses a large herringbone gear for smooth, backlash-free rotation. The gear’s dual-helix structure increases strength and stability, allowing the base to handle high loads while rotating with precision.

2nd DOF – Shoulder Joint (Harmonic Drive)

This joint uses a harmonic gear mechanism to achieve extremely high torque and near-zero backlash. It provides very fine control over the arm’s main lifting motion—ideal for heavy payloads and accurate positioning.

3rd DOF – Elbow Joint (Timing Pulley System)

A timing belt and pulley assembly powers the elbow, offering lightweight, efficient, and responsive movement. It reduces weight on the arm while still maintaining consistent, slip-free transmission.

4th & 5th DOF – Wrist Pan and Tilt Mechanism

These two DOFs form a compact pan-tilt unit. This allows the wrist to orient the end-effector in multiple directions with smooth, coordinated rotational motion—important for precise alignment during task execution.

6th DOF – Wrist Roll (Twist Joint)

The final DOF is a simple twist/roll joint that rotates the gripper or tool. This enables tasks like screwing, rotating objects, aligning parts, and fine manipulation during pick-and-place operations.