INDRBT / Reading room

CAD component catalog

INDRBT has 54 original modeled components and six complete pose assemblies. This catalog connects each part to its assembly role, assumed material, individual models and saved FreeCAD object. All CAD lengths are in millimetres.

Open the robot

In the organized project folder, double-click OPEN_3D_VIEWER.cmd or OPEN_FREECAD_MODEL.cmd to open the installed application. The same files are copied under 01_CAD_Models; component STEP files are in STEP/Individual_Parts, and complete poses are in STEP/Assemblies.

STEP files preserve solid geometry for CAD inspection and exchange. STL files contain triangles for mesh viewers and printing preparation. Component exports remain in their local assembly-group frame; open a complete pose to see all parts together.

Complete assemblies

Find an individual component

The group labels base, j1 to j6 identify moving coordinate frames. A motor name such as j2_motor_envelope identifies the actuator it represents; its housing belongs to the preceding support frame. Names ending -1 and +1 mark the two side instances. Gripper guide rods ending -14 and +14 are at local Z = -14 and +14 mm.

An envelope is a simplified spatial placeholder for a motor, gearbox, bearing or screw. Its interior is not a detailed purchased component. Materials are assumed; the geometric mass estimate is separate from the conservative dynamic mass inputs.

FreeCAD objects retain Component01 to Component54 internal names and display the descriptive component label. The mapping below was checked against the individual part volumes and home-assembly positions. Blender and individual exports retain the descriptive part names.

Fixed base (base; 4 parts)

Mounting plate, hollow riser and fixed covers.

Turret and shoulder support (j1; 9 parts)

Rotates around J1; supports the shoulder bearing and J2 actuator housing.

Upper arm and elbow support (j2; 13 parts)

Rotates around J2; carries the upper link, elbow clevis, bearings and J3 actuator housing.

Forearm and wrist roll support (j3; 8 parts)

Rotates around J3; carries the forearm and stationary wrist roll housing/cover.

Wrist roll rotor and pitch supports (j4; 3 parts)

Rotates around J4; the roll output carries the pitch fork.

Wrist pitch link (j5; 3 parts)

Rotates around J5; carries the pitch neck and final roll stator.

Tool flange and parallel gripper (j6; 14 parts)

Rotates around J6; the two gripper jaw families additionally translate along local Y.

Gripper motion and checked scope

The two contact pads have 90 mm clear separation at maximum opening and touch at zero opening. Each jaw moves 45 mm; its carriage, finger and contact pad move together along local Y. The guide rods, body, screw envelope and actuator remain fixed in the tool frame. The saved component files show maximum opening; the interactive viewer applies the symmetric jaw translation.

The final review checked the pad gaps and jaw/body intersections at 0, 22.5, 45, 67.5 and 90 mm openings. The retained assembly screen checks every component pair at six poses and the closed/mid/open gripper. The trajectory screen checks 75 representative configurations. These finite digital checks do not certify every joint-angle combination or continuous physical motion.

See final component review, native release consistency, CAD properties, assembly clearance and trajectory clearance for the executed evidence. Drawings are concept interfaces without production tolerances.