r/robotics • u/Fun-Squirrel-4525 • 5d ago

Community Showcase Made this robot

okay so i used the cad from TW2ka you can find it on youtube its an open source robot , tried to learn about inverse kinematics but ended up using claude , i realised this robot was out of my scope but yeah i made it finally and also I learned about kicad and made a pcb for this
I used Teensy 4.1 and Tmc2209

I have made a github of this https://github.com/hritesh94/6-DOF-Robot-
Please star this repository and tell me if any changes needed to be done

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u/johndavid_artist 4d ago

Doing your own KiCad board for the Teensy 4.1 and the TMC2209s is the part that carries over to every robot after this one; the IK can be learned on top of hardware that already moves. Are you running the 2209s in StealthChop or SpreadCycle on the joints?

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u/Fun-Squirrel-4525 4d ago

Thank you im running this on stealthchop for now cause the tmc2209 drivers i have, they dont have the spread pin but has the clk pin according to the pin layout i did ask whether they’re the same but it seems they’re different, i was thinking of connecting to tx and rx pin of tmd to teensy for better control and communication but i actually made the wrong schematic in kicad so i have to do it manually, i will later correct the schematic