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6-axis robot arm. Nearly all the gearing and brackets are 3D printed ABS. The frame/arm is extruded aluminum. Each arm joint is comprised of two tapered rollers bearings (one small, one large) with the driven gear sandwich in between. It uses 3 NEMA 23, and 3 NEMA 17 stepper motors. It’s controlled by an ESP32 microcontroller, which receives commands via WiFi from a computer. The ESP32 has duel-cores: one listens for commands and writes them to a queue while the other core reads from the queue a
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