HardLabs

6-DOF-Robot-

hritesh94·6-DOF-Robot-·hardware/pcb/tw2ka_pcb.kicad_pcb

6-DOF-Robot- PCB layout, top view — open source NXP board by hritesh94

About the 6-DOF-Robot- PCB

6-DOF-Robot- is an open source NXP PCB design by hritesh94, published on GitHub under the MIT license. It is a 4-layer board measuring 102 × 100 mm, with 40 components from 10 distinct parts.

Its main chip is the Teensy4.1, from the NXP family. By type, the board carries 32 connectors, 1 IC and 1 fuse.

It belongs with the robotics & motion designs in this gallery.

From the project

6-DOF robot arm (open-source TW2KA) with my own KiCad PCB, Teensy 4.1 firmware and a browser controller with inverse kinematics and G-code drawing.

My own control board for the TW2KA arm: a Teensy 4.1 driving six TMC2209 stepper drivers, with endstop inputs. Designed in KiCad 10.

https://github.com/user-attachments/assets/b51a67fe-33f5-430a-8fab-c27dd11908fc

Pin map and endstop wiring: docs/02-hardware.md.

Opening the board works without the footprint libraries (footprints are stored inside the .kicadpcb). To edit footprints you also need the Tmc2209pinsocket.pretty folder and the Teensy footprint library (teensy.pretty`, available on GitHub).

6-DOF-Robot-, from the project README
From the project README

Main components on the 6-DOF-Robot-

Teensy4.1

6-DOF-Robot- bill of materials (BOM)

40 components, 10 distinct parts.

QtyPartRefs
1
Teensy4.1
U1
6
Conn_02x08_Odd_Even
J1, J2, J3, J4, J5, J6
5
Conn_01x02_Socket
J7, J8, J9, J10, J11
1
Screw_Terminal_01x02
J12
6
Conn_01x04_Pin
J13, J14, J15, J16, J39, J40
6
Conn_01x02_Pin
J17, J18, J19, J20, J21, J22
2
Conn_01x24_Pin
J23, J25
6
Conn_01x01_Pin
J24, J27, J28, J29, J30, J31
6
C_Polarized_Small
100uf1, 100uf2, 100uf3, 100uf4, 100uf5, 100uf6
1
Fuse
F1

6-DOF-Robot- design files

The KiCad project lives in the hritesh94/6-DOF-Robot- repository on GitHub; these links point at the commit this page was built from.

6-DOF-Robot-: common questions

What microcontroller does the 6-DOF-Robot- use?

The 6-DOF-Robot- is built around the Teensy4.1, from the NXP family.

How big is the 6-DOF-Robot- PCB?

The 6-DOF-Robot- measures 102 × 100 mm, has 4 copper layers and is 1.600198 mm thick.

How many components are on the 6-DOF-Robot-?

40 components, from 10 distinct parts. The full bill of materials is listed on this page.

Where can I download the 6-DOF-Robot- design files?

From the hritesh94/6-DOF-Robot- repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the 6-DOF-Robot- design in my own project?

Yes, under the terms of its MIT license, which hritesh94 chose for the repository.

Can I test firmware for the 6-DOF-Robot- without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug NXP firmware against it before you order a PCB.

Similar boards