Dexter HD/HDI
Dexter HD/HDI is an open-source 5+ axis precision robot arm developed by Haddington Dynamics. It uses NEMA-17 stepper motors paired with harmonic drives on the main joints, and custom quadrature optical encoders on every axis for true closed-loop position feedback - a level of precision rarely seen in hobbyist-grade arms. Motion is calculated and served by an onboard MicroZed FPGA/ARM computer running Haddington's custom gateware and DexRun.c firmware, programmed through DDE (Dexter Development Environment), a full JavaScript-based IDE built specifically for this robot. This orobot.io Program is a learning interface, not a drop-in replacement for Dexter's real control stack. Dexter's actual joint motion, calibration, and job execution run on its own onboard computer - to build and operate a real Dexter, follow the official GitHub Wiki and DDE documentation. Attribution: Haddington Dynamics (https://github.com/HaddingtonDynamics/Dexter), licensed GPLv3. Project site: http://hdrobotic.com/. Wiki: https://github.com/HaddingtonDynamics/Dexter/wiki Key resources from the source project:
STL files: https://www.thingiverse.com/thing:3206154 (with update: https://www.thingiverse.com/thing:3781990)
Kinematic CAD model (Fusion 360, exportable to STEP/IGES/OBJ/STL/etc.): https://a360.co/3eoAQqo
Bill of materials (Google Sheet "Common" tab): https://docs.google.com/spreadsheets/d/1tPxJF4zsaoBsXhz2b6sy5hTPxMfhjwwAfAAC_93CtzM/edit
Assembly photos: https://photos.app.goo.gl/jGmsnxtytvdYhgUi8
Build notes: https://github.com/HaddingtonDynamics/Dexter/wiki/HD-Build-Notes
DDE IDE releases: https://github.com/cfry/dde Note: this repo's STL/CAD assets are hosted externally on Thingiverse and Fusion 360 (OnShape/A360), not committed directly to the GitHub repo, so this Program links to them rather than mirroring local copies.
