Skip to content
MF.SYS // NODE 04
[MF-DOC // VOL. IV] / The field guide to machines entering the real world.
MACHINE/FIELD

Independent coverage of machines that sense, move and act outside the laboratory.

EDITORIAL // FEATURED Editorial
[FEATURED] The Robot Is Not Ready. The Workflow Is.
EDITORIAL — NOT BENCH-VERIFIED $385.40 · 18h · intermediate

6-DoF Cycloidal Desktop Manipulator

A high-precision desktop manipulator utilizing standard 5010 drone outrunners, custom 11:1 3D-printed PETG-CF cycloidal reducers, and an ESP32 CAN-Bus controller. Total repeatable payload of 1.4kg at 350mm reach.

01 Parts … 08 Result

  1. 01 Parts

    Source 5010 outrunners, AS5600 magnets, PETG-CF, and the CAN board.

  2. 02 Print

    Print cycloidal discs in PETG-CF. Never PLA.

  3. 03 Assemble

    Press 608RS bearings, set eccentric, check tooth mesh by hand.

  4. 04 Wire

    CAN bus + decoupling caps on the transceiver before first spin.

  5. 05 Calibrate

    Zero AS5600 offsets; log backlash at 1.4 kg payload.

  6. 06 Test

    Continuous 25-minute torque hold; watch winding temperature.

  7. 07 Break

    PLA discs failed here. PETG-CF survived the same protocol.

  8. 08 Result

    Repeatable 1.4 kg at 350 mm, backlash < 0.18 deg.

  • Do NOT print cycloidal discs in PLA: Glass transition temperature (~55°C) caused tooth softening after 25 minutes of continuous torque holding. Use PETG-CF or PA12-CF.
  • Add decoupling capacitors to CAN transceiver: 24V motor inductive kickback caused SPI bus lockups on joint #3.