3D Printed 6-Axis Robot Arm v10 (NEMA 17) -- Printed Harmonic Gearboxes, 0.2 kg Payload, STL + STEP

A 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 641 mm, **payload 0.2 kg rated** (0.21 kg calculated max) - **Speed:** joints up to 120 deg/s (shoulder 30 deg/s), gripper point up to 0.67 m/s - Motors: NEMA 17 on every joint - 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, BOM, assembly and wiring guides - Ready-laid print plates (.3mf, one per 220 x 220 bed) + motion-demo video of the arm (CAD simulation)

Note: the printed gearboxes' capacity is calculated, not yet measured on a printed sample; images are renders. You get digital files only.