mockway open-source six-axis collaborative robotic arm
Print Profile(1)
Description
Code Repository
https://github.com/Jelatine/mockway_robotics
Update History
2026.05.13: Added Raspberry Pi + CAN solution, updated wiring diagram and BOM; added assembly guide PDF document
2026.02.04: Added M3 screws related to two types of motors in the BOM; updated electrical wiring diagram
Gravity Compensation Application Video
MoveIt! Application Video
Assembly Example Video
BOM
Structural Components
| Material | Quantity | Remarks |
|---|---|---|
| Motor Housing | 6 | Machined |
| Base | 1 | Machined |
| Flange | 5 | Machined |
| End | 1 | Machined |
| Elbow | 1 | Machined |
| Connecting Rod (Short) | 1 | Machined |
| Connecting Rod (Long) | 1 | Machined |
| Motor 4310 | 4 | J1, J4, J5, J6 https://item.taobao.com/item.htm?id=815333472865 |
| Motor 4340 | 2 | J2, J3 https://item.taobao.com/item.htm?id=814943831981 |
| TuBa hot melt nut M3*4*4 | 60 | 36 (6 per housing for 6 housings) + 6 (base) + 12 (elbow) + 6 (end) https://detail.tmall.com/item.htm?id=899448134936&skuId=5922977711774 |
| TuBa hot melt nut M2*3*3 | 10 | 10 (2 per flange for 5 flanges) Flange side anti-rotation https://detail.tmall.com/item.htm?id=899448134936&skuId=5922977711783 |
| Phillips flat head screw M2*6 | 10 | 10 (2 per flange for 5 flanges) Flange side anti-rotation https://detail.tmall.com/item.htm?id=587778806234&skuId=6161706918510 |
| Hex socket head screw M3*10 | 24 | 12 upper arm, 12 forearm https://detail.tmall.com/item.htm?id=587639753812&skuId=4763651596408 |
| Hex head screw M3*8 | 30 | 30 (6 per housing for 5 housings) Connects flange to housing https://detail.tmall.com/item.htm?id=560233170109&skuId=5115239739933 |
| Self-tapping screw M2*5 | 24 | 24 (4 per housing for 6 housings) Secures cover https://detail.tmall.com/item.htm?id=635097264798&skuId=5800678634554 |
| Countersunk Phillips screw M3*8 | 36 | 36 (6 per housing for 6 housings) Connects housing to motor stator https://detail.tmall.com/item.htm?id=635369222178&skuId=5742164075947 |
| Countersunk Phillips screw M3*12 | 36 | 30 (6 per flange for 5 flanges) + 6 (end) Connects flange/end to motor rotor https://detail.tmall.com/item.htm?id=635369222178&skuId=5742164075833 |
Tools
| Material | Quantity | Remarks |
|---|---|---|
| Type A parallel key M3*3*6 | 1 | Used for calibrating joint zero point, manufactured or purchased https://item.taobao.com/item.htm?id=558004402273&skuId=5234867667275 |
| Open-end wrench 5.5mm | 1 | For M3 hex head screws, manufactured or purchased https://detail.tmall.com/item.htm?id=823964253067&skuId=5706801530492 |
Electrical Materials
| Material | Quantity | Remarks |
|---|---|---|
| USB-CAN module (Control Scheme 1️⃣) | 1 | PC debugging robotic arm https://item.taobao.com/item.htm?id=635000838271&skuId=4710513306912 |
| Raspberry Pi 5 (Control Scheme 2️⃣) | 1 | 8GB RAM https://item.taobao.com/item.htm?id=743234145497&skuId=5128236029143 |
| CAN expansion board (Control Scheme 2️⃣) | 1 | 2-CH CAN HAT https://item.taobao.com/item.htm?id=638355987682 |
| 24V Power Supply | 1 | Self-supplied |
Electrical Wiring Diagram
Documentation (1)
License
You shall not share, sub-license, sell, rent, host, transfer, or distribute in any way the digital or 3D printed versions of this object, nor any other derivative work of this object in its digital or physical format (including - but not limited to - remixes of this object, and hosting on other digital platforms). The objects may not be used without permission in any way whatsoever in which you charge money, or collect fees.
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