WE-R2.4 Robot Arm Initial Test

This is an initial test of my WE-R2.4 robot, very roughly modeled on the UR3 robot at 80% scale. It is almost entirely 3D printed, including the compound planetary gearheads at each joint. It is controlled by seven Tic T500 stepper controllers with custom firmware distributed within the arm structure. Get the files to 3D print your own here: :3327968 And check out this video from John Lauer showing more detail about how it is built: