Materials and CAD Files

Structural Components

Electronics and Motors

Hardware

Custom Part Files

Tube Materials

Assembly Guides

Custom Part Manufacturing Guide

Full System Assembly

Cart Assembly

Tube Fabrication

Electronics Setup

Electronics Board Setup

Firmware Installation

Wire Management

Full System Test

Kinematics

Calculating Kinematics of a CTR

Implementing Kinematics

Troubleshooting Kinematics

Experiments

Installing Tubes

Homing the Robot

Graph Paper In-Plane Bending Experiment

Out-of-Plane Rotation Experiment

To power your system, you’ll need the following electronic components. To ensure all provided software will work, purchase the exact control board listed. You may use any NEMA 17 stepper motors that meet the specifications below.

<aside> 📎 The stepper motors linked below come with cables. However, these cables do not have the correct black/red/blue/green order and will cause the motor to not work properly with our controllers. The last line in this table has the wires that you will need to control the provided motors with the provided board.

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Electronics and Motors