Design of Real-Time Cobot Planetary Gear System Interfacing with Stepper Motor

Now a days the rise of collaborative robots have became emerging technology across the globe. In this project , we have used additive manufacturing where we take 3D CAD files which are planetary gears, sun gears , base gear and we have connected Nema-17 Stepper motor along with A4988 stepper motor driver to control the position of the robot . This robot arm is (roughly) modeled after the UR3 industrial robot at a scale of 80 percent and it is attached between thorax and upper shoulder. It follows the same design principle of putting a motor/reducer actuator unit at each joint and stacking two actuators to produce a 4-axis arm. While the UR3's actuators are hollow torque motors with harmonic drives, this robot uses stepper motors with compound planetary actuators.