I took on this very ambitious project for the ME102b Mechatronics Design course at Berkeley. The goal is to make a (almost) fully 3D-printable robotic arm that can draw on any medium. I aimed to achieve this goal with 3 steps:

1. Define the workspace and design parameters for the robotic arm.

2. Design a powerful 3D printable Harmonic Drive gearbox for stepper motors.

3. Derive the forward and inverse kinematics and implement them in an intuitive GUI for user interaction.

In Class Presentation Slides Throughout the Semester

I open-sourced my 3D Printable Harmonic Drive Design to Maker World