Gears and transmission
6-DOF Robotic Arm Assembly
- Bounding box
- 1192.1 × 200.1 × 365.0 mm
- Engine
- Precision B-rep
- Parameters
- 39
- Published
- November 2, 2026
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The prompt
Design a 6-degree-of-freedom (6-DOF) robotic arm with the following specifications: Overall geometry and scale Maximum reach of 800 mm from base center to tool flange tip. Total arm weight under 8 kg. Designed for a 5 kg rated payload at full extension. Slender profile with a maximum link diameter of 80 mm on the upper arm and 60 mm on the forearm. Base (Link 0) Circular mounting plate, 200 mm diameter, 18 mm thick. Four M8 bolt holes on a 160 mm bolt circle, countersunk on the underside. Central cable entry port, 30 mm diameter, running through the base axis. Compatible with both floor mount and ceiling mount (inverted) configurations. Include a flat registration surface on the front face for homing alignment. Joint 1: Waist (rotation) Continuous 360-degree rotation about the vertical Z-axis. Hollow-bore brushless servo motor integrated into the base-to-shoulder transition. Harmonic drive reducer, 100:1 ratio. Output torque: 60 Nm. Include a hard-stop collar with ±355-degree travel limit and a rotary slip ring for power and signal passthrough. Joint 2: Shoulder (pitch) Pitch rotation about the horizontal axis, range ±120 degrees. Upper arm link length: 320 mm measured from shoulder pivot to elbow pivot. Rectangular hollow cross-section link, 80 mm wide by 60 mm tall, wall thickness 4 mm, material 6061-T6 aluminum. Harmonic drive at the shoulder, 80:1 ratio. Output torque: 50 Nm. Servo mounted inline with the link axis to minimize lateral bulk. Joint 3: Elbow (pitch) Pitch rotation about a horizontal axis parallel to the shoulder axis. Range ±135 degrees. Forearm link length: 280 mm, shoulder pivot to wrist center. Cross-section tapers from 70 mm at the elbow end to 50 mm at the wrist end, circular tube profile, wall thickness 3.5 mm, 6061-T6 aluminum. Strain wave (harmonic) gear, 80:1. Output torque: 30 Nm. Joints 4, 5, 6: Wrist (roll, pitch, yaw) Three-axis wrist assembly with intersecting axes meeting at the wrist center point (spherical wrist configuration). Total wrist housing length: 120 mm. Each axis: ±180 degrees travel. All three joints use integrated brushless motors with 50:1 planetary gearboxes. Wrist housing is hollow-bore (20 mm internal channel) for cable, pneumatic, or vacuum line passthrough. Outer diameter of wrist housing: 56 mm. Lightweight carbon fiber reinforced polymer (CFRP) shell over aluminum structural inserts. Tool flange (end effector mount) ISO 9283-compliant tool flange, 50 mm bolt circle, six M5 threaded holes equally spaced. Central 20 mm bore aligned with wrist axis for cable or air line passthrough. Face runout tolerance: 0.02 mm. Include a quick-release bayonet collar with a locking lever for tool-change compatibility. Thickness of flange: 10 mm. Cables and routing All power and signal cables routed internally through hollow link bores and the hollow-bore wrist. No external cable management chains required. Reserve a 15 mm internal channel running from base to flange. Sensors and features
Parameters
| Name | Value | Range |
|---|---|---|
| Layout Gap | 60 mm | 10 – 200 |
| Base Diameter | 200 mm | 100 – 300 |
| Base Thickness | 18 mm | 8 – 40 |
| Base Bolt Circle Dia | 160 mm | 80 – 250 |
| Base Bolt Hole Dia | 8.4 mm | 4 – 15 |
| Base Countersink Dia | 16 mm | 8 – 25 |
| Base Cable Bore Dia | 30 mm | 10 – 60 |
| Waist Housing OD | 90 mm | 50 – 150 |
| Waist Housing Height | 70 mm | 30 – 150 |
| Waist Slip Ring Bore | 30 mm | 15 – 60 |
| Waist Wall Thickness | 8 mm | 3 – 20 |
| Shoulder Housing Width | 100 mm | 50 – 180 |
| Shoulder Housing Height | 90 mm | 40 – 160 |
| Shoulder Housing Depth | 80 mm | 40 – 140 |
| Shoulder Pivot Bore Dia | 25 mm | 10 – 50 |
| Shoulder Wall Thickness | 6 mm | 3 – 15 |
| Upper Arm Length | 320 mm | 100 – 600 |
| Upper Arm Width | 80 mm | 40 – 130 |
| Upper Arm Height | 60 mm | 30 – 100 |
| Upper Arm Wall Thickness | 4 mm | 2 – 10 |
| Upper Arm Flange Thickness | 8 mm | 3 – 20 |
| Elbow Housing Width | 85 mm | 40 – 150 |
| Elbow Housing Height | 80 mm | 40 – 140 |
| Elbow Housing Depth | 75 mm | 30 – 130 |
| Elbow Pivot Bore Dia | 20 mm | 8 – 40 |
| Forearm Length | 280 mm | 100 – 500 |
| Forearm OD at Elbow | 70 mm | 30 – 120 |
| Forearm OD at Wrist | 50 mm | 20 – 100 |
| Forearm Wall Thickness | 3.5 mm | 1.5 – 10 |
| Wrist Assembly Length | 120 mm | 50 – 200 |
| Wrist Outer Diameter | 56 mm | 30 – 100 |
| Wrist Central Bore | 20 mm | 8 – 40 |
| Tool Flange Thickness | 10 mm | 4 – 25 |
| Tool Flange OD | 56 mm | 30 – 100 |
| Flange Bolt Circle | 50 mm | 25 – 80 |
| Flange Bolt Hole Dia | 5.2 mm | 3 – 10 |
| Flange Central Bore | 20 mm | 8 – 40 |
| Bayonet Collar OD | 68 mm | 40 – 120 |
| Bayonet Collar Height | 8 mm | 3 – 20 |
Every value above is a live dimension. Open a model like this in the editor and each one becomes a slider you can drag before exporting.
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