WE-R2.4 Six-Axis Robot Arm

This robot arm is (very) roughly styled as an 80% scaled version of the UR3 industrial robot. It uses the same design philosophy of simply placing a motor/reducer actuator unit at each joint, with six actuators stacked up to make a 6-axis arm. Now while the UR3 uses hollow torque motors coupled with harmonic drives ($$$) for the actuators, this robot uses the stepper motor/compound planetary actuators I posted here: https://www.printables.com/model/132262-robot-actuators. Two of the large actuators get used for the first two base joints, one of the medium sized actuators gets used for the elbow joint, and three of the small ones get used for the wrist joints. And the gripper* I've posted here: https://www.printables.com/model/132264-conformal-robot-gripper.For the controller, I've used seven of Pololu's Tic T500 stepper controllers with custom firmware I wrote to support coordinated motion. You can find the gory details, including a Windows test utility program, here: https://drive.goo