HI! noob alert- Tell me how crazy I am-
I want to build a lightweight arm with-
1. Max reach of 2m.
2. Camera payloads in the 10-15kg range. Avg payloads of 5kg.
3. 6 DOF.
4. This arm should move smooth and fast, above all else.
5. It should be fairly precise, within 5mm repeatability.
6. Powered off 120 VAC
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My idea is to buy a used robot for parts in order to harvest the mechanics, gear reduction drives and certain joints, and build/ modify so instead of a heavy cast frame, it has a lightweight carbon fiber/ aluminum construction. I'm a machinist an can handle this.
Then replace the drives with clearpath servos that have software tuning/ calibration and run off 75 VDC.
The programming is not in my wheelhouse so I would need to find people to do that.
I have searched the forum and found a couple similar posts regarding using a kuka adapted to this use. I'm looking at a Staubli RX60 as a parts donor. The size is right so if I could just lighten the arm pieces and fit servos in place of the drives I would be in business.
or
Would it be better to start from scratch and buy all new gearing? These harmonic drives or cycloidal gears are very pricey..
Thank you in advance for any advice.