Humanoid Arm Library

Humanoid robotic arm component library built on modular actuator and gearbox architecture.

Library Objective

This repository is the humanoid-arm extension of the Hazebatronics actuator ecosystem. It is structured to let you reuse and scale components across designs (single-joint tests, 3-DOF modules, and larger arm assemblies).

What This Library Contains

• Component catalog for actuators, gearboxes, joints, links, and base modules.
• Assembly definitions that reference reusable component IDs.
• Mechanical CAD assets for arm structures and joints.
• Python control scripts for motion bring-up and validation.

Repository Structure

humanoid-robot-arm/
├── components/
│   ├── actuators/
│   ├── gearboxes/
│   ├── joints/
│   ├── links/
│   └── base/
├── assemblies/
│   ├── arm-3dof-v1/
│   └── parts-map/
├── mechanical/
│   └── cad/
│       └── model/
├── software/
│   └── python/
│       └── code/
├── electronics/
│   ├── firmware/
│   └── hardware/
└── docs/
    ├── library/
    ├── overview.md
    └── repository-map.md

Core Library Artifacts

Component Definitions

• components/*/*/component.yaml: machine-readable component metadata.
• components/*/*/README.md: human-readable intent, interfaces, and usage notes.

Assembly Definitions

• assemblies/arm-3dof-v1/README.md: reference 3-DOF composition.
• assemblies/parts-map/parts-map.csv: mapping from CAD part names to component IDs.

CAD + Control Assets

• mechanical/cad/model/: STL geometry for links, joints, and base parts.
• software/python/code/: control examples (sine-wave.py, curl.py, three-actuators.py).

Component Index

• components/CATALOG.md
• Regenerate with: ./scripts/generate_components_catalog.sh

Assembly BOM

• assemblies/arm-3dof-v1/BOM.md
• assemblies/arm-3dof-v1/BOM.csv