To design this robot I used fusion 360. It consists of a total of three joints, where each joint incorporates a GT2 timing belt and pulley-based gear system, along with a NEMA17 stepper motor. I have also created a separate video showcasing the custom robotic joint I developed. For the robot's controller, I opted for an ESP32 board, implementing an inverse kinematics (IK) algorithm, in combination with a cost-effective stepper motor controller.

свернуть