6-DOF Robotic Arm for Arduino - Full 3D Printed Model | STL

Model Overview & Print Notes

The 3D print files for a 6-DOF robotic arm for Arduino: 5 rotational axes and a gripper on MG996R and SG90 servos, controlled by an Arduino Uno and a PCA9685 servo driver. Designed in Autodesk Inventor, prints on any FDM printer. Same files as the package on omartronics.com. **How it works** The Uno talks to the PCA9685 over I2C (16 PWM channels). Base, shoulder and elbow use MG996R servos for torque; wrist and gripper use SG90 micro servos. You move each joint with its own 10 kΩ potentiometer, six pots on A0 to A5. Power comes from a separate 5 V supply. Each joint has its own printed bracket; the parts go together with M3 screws and nuts, a few self-tapping screws and one 6806ZZ ball bearing in the base. No glue. **What's included** - 12 STL files per version, in two folders: with and without the centralization ring - README and LICENSE - Arduino code, wiring diagram and parts list: in the free step-by-step tutorial **Tutorial and video** - Full tutorial (free): https://omartronics.com/diy-6-dof-robotic-arm-build/ - Build video: https://youtu.be/K7cXGwFUkkY **License** Personal, non-commercial use. You may print, build and modify the parts for your own projects. Redistribution or resale of the files is not permitted. ## 3D Printing Settings PLA, 0.2 mm layer height, at least 40 % infill for base and arm links, 20 % for the gripper gears, supports where needed. Roughly a weekend of printing. Assembly: M3 screws and nuts, a few self-tapping screws and one 6806ZZ ball bearing (30x42x7 mm) in the base; full list in the tutorial. Electronics: Arduino Uno, PCA9685 servo driver, 3x MG996R, 3x SG90, 6x 10 kΩ potentiometer, breadboard, 5 V 10 A supply for the servos. Wiring diagram, parts list and Arduino code: https://omartronics.com/diy-6-dof-robotic-arm-build/

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