Stepper motor robot arm controlled with grbl and bcnc

Motors are nema 23 size. Gearboxes are planetary, ratio 1:50. Both are second hand stuff. There is no special code. Just ordinary Grbl 1.1 in arduino uno. It is controlled by BCNC. G-code is generated firstly by driving robot arm manually to wanted spots. Then locations is saved and driven as a g-code

You can download dxf-file about parts by clicking the link. (Link repaired 03.01.2021)

https://www.dropbox.com/s/5s3r5f3uzxlk342/robottik%C3%A4si_Juha_Katila.dxf?dl=0

(Link repaired 03.01.2021)

Here is a small video, where you can see the robot arm from different angles

https://www.youtube.com/watch?v=VMQMCpFWv_g

Видео Stepper motor robot arm controlled with grbl and bcnc канала Juha Katila