Continued Soldering PCB (Diodes/LEDs, power circuitry, etc) and worked on arm CAD.

For the PCB, after some time, I got the power switching circuit to output power. It’s a collection of things that I hope will make it safer, with a some diodes and a fuse, some MOSFETs, so the main MCU can command to send power, and also another stage that requires the E-STOP to not be pressed to actually be able to send power through with two MOSFETs (one main power, another switch the main MOSFET).

I added a fan to the global shutter main wrist camera since it gets hot, and added a new “head” to the arm segment CAD (the heads are swappable depending on what you need to print) for the smaller motor for the last DOFs in the arm. It fits my custom daisy chaining two part PCB hat for the MG996R to give it current, temp, power sensing, and daisy chaining power and data via a RS485 bus with an onboard MCU to provide communication and control. I added some holes for airflow for this PCB. I also added some screw holes to actually connect the halves of the arm together.