For the week of October 4th–11th, our team moved Iteration 1 from completed design files into fabrication and early assembly. We finished printing all of the planned robot-arm components and began assembling the base. This allowed us to begin validating the physical fit of the printed pieces rather than relying only on the SolidWorks assembly and simulation results.
We also refined the CAD representations of the motors, bearings, shafts, power components, and other purchased hardware so that the model more closely matches the parts used in the physical build. Updating these measurements reduced the risk of mounting, clearance, and alignment problems during assembly and gives us a more accurate reference if any components need to be revised or reprinted.
The modeling and printing work planned for Iteration 1 is complete. However, the physical assembly is slightly behind our original schedule because the fabrication work took longer than expected and several additional parts have not yet arrived. Our next priority is to finish the base and joint assemblies as the remaining hardware becomes available, then verify the arm’s alignment, clearances, and range of motion.
For next week, our team plans to:
- Finish assembling the base and continue building the remaining arm sections.
- Install the motors, bearings, shafts, and power components as the remaining hardware arrives.
- Verify that the purchased components match the refined CAD models.
- Test joint fit, alignment, and range of motion during assembly.
- Update or reprint any components that require dimensional corrections.
- Continue the ROS2, URDF, and control-system integration for the physical arm.
Week-Specific Considerations
Part A was written by Jonathan Waller. Part B was written by Aaron Tang. Part C was written by Bryan Hong.
Part A: Global Factors — Jonathan Waller
Our 6DOF drawing robot addresses global factors by making physical surface-drawing automation accessible to non-academic, non-technical creators far beyond specialized robotics environments. Traditional six-axis industrial arms require specialized programming knowledge and heavy capital investment, isolating advanced automation tools within large industrial facilities or technical research institutions. In contrast, our system is designed for independent artists, small business owners, and creators anywhere in the world. It features a simple browser-based web interface that allows non-technologically savvy users to upload standard SVG files and execute jobs without needing coding or robotics expertise. Furthermore, by leveraging an open-source ROS2 software stack, 3D-printable structural components, and affordable off-the-shelf hardware, the solution can be deployed, repaired, and operated globally without reliance on specialized regional supply chains or high-cost industrial infrastructure.
Part B: Cultural Factors — Aaron Tang
Cultural concerns can be addressed in the design of our 6DOF drawing robot by providing users the option to select the images, scripts, writings, symbols, or other visuals they would like the robot to recreate without having to resort to an established library of drawings meant to represent a particular culture. Since the web interface of the robot accepts common SVG files, it gives creators the freedom to submit any content that is relevant and meaningful to their culture or community. Additionally, the use of the browser interface for input means that the user does not have to become familiar with specialized robotics instructions and can use the interface in multiple languages.
Moreover, we are aware that drawings can include culturally sensitive images or materials protected by intellectual-property laws. We design our drawing robot as a tool meant for user control rather than a system capable of selecting or interpreting cultural material on its own. Providing clear documentation and allowing user control can facilitate responsible usage of the product while still giving each community the ability to adapt the open and 3D printable design to their own materials, culture, art practices, and legislation.
Part C: Environmental Factors — Bryan Hong
Our 6DOF robot arm does not require complex machining and commercially-inaccessible hardware that is typical of larger robotic systems. Instead, by using 3D-printed parts and relatively-inexpensive hardware, our robot arm generates less material waste during its lifespan. For example, if a component on our system breaks, it can be easily reprinted and refitted, whereas other robotic arm systems would require the purchasing of replacement parts or an entirely new system. Factoring in the energy consumed to machine these replacement parts and/or an entirely new system, it is clear that our robotic arm will result in less natural resource consumption.
Additionally, the robot arm’s ability to reproduce drawings directly onto a surface can help reduce the need for repetitive manual work. Because our system is fully programmable, it allows users to produce multiple designs with a consistent process, potentially reducing errors and wasted materials during repeated drawing tasks.
Although our 6DOF robot arm is not designed specifically for environmental conservation, simple construction and use of accessible components provide opportunities to reduce material waste compared to more complex robotic arm systems. As we develop the system further, factors such as material selection, efficient power management, and proper disposal/recycling of electronic components and 3D-printing waste will be important considerations. These practices can help reduce the robot’s environmental footprint while supporting its long-term usability.