Just dropped my 4-axis robot arm! NEMA 23 + custom 5:1 planetary gearbox at the shoulder, three NEMA 17s for base/elbow/wrist, parallel gripper. Controlled live in Chrome over USB (WebSerial) — full 3D sim, webcam hand tracking, iPhone LiDAR bridge. ~420mm reach, ±140° elbow. Full source (app + firmware): github.com/cambue12/Nema-motor-arm-controller Heads up: Second Link and Link to Wrist are the latest revisions but haven't been printed yet. The rest is built and running. 🤖