Stage 06 · 6DOF Robotic Arm · Chapter 3 · 90 min

Mechanical Structure, Joints & DOF Mapping

Assemble the serial chain, label each joint, and lock down a consistent coordinate convention.

• Assemble base → shoulder → elbow → wrist links in order

• Assign joint indices J1–J6 consistently for software

• Set mechanical mid-positions before tightening horns

• Identify singularities and reach limits of your geometry

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• Global Bill of Materials