Here’s a quick video of my fiveaxis robot arm performing it’s first simultaneous multipleaxis moves.

The robot is driven by a small Xilinx Artix 7 FPGA. Inside the FPGA is a Microblaze MCS microcontroller that calculates each move and a sixaxis motion engine written in Verilog that executes the calculated move.

The arm was designed in Autodesk Fusion360 and is built from aluminum. I plan on adding a lower arm rotate axis and a gripper eventually. If you look closely, the lower arm is already has a split for inserting the sixth axis.

Link to downloadable 3D model of arm in Autodesk 360: http://a360.co/1sG7jPU
Link to downloadable 3D model of shoulder in Autodesk 360: http://a360.co/1sG7rim
Link to RTL, software, bill of materials, etc., on Github: https://github.com/bikerglen/robotar...

The arm 3D model is mostly accurate as to what was built.
The shoulder 3D model is a pretty old version and does not reflect what was built.