Seven-axis chain
J1 base yaw; J2 shoulder pitch; J3 longitudinal roll; J4 elbow pitch; J5 roll; J6 wrist pitch; J7 wrist roll. Frames, joint order and limits need a reviewed hardware mapping.
Cheverton Holdings LLC
HCR-1 Arm
A seven-axis manipulator design study for Cheverton Robotics medical-supply assistant development.
CHEVERTON / ROBOTICS
HCR-1 / ARM DESIGN STUDY
The arm, from base
to gripper.
A proposed arm-module reference for the HCR-1 dual-arm mobile medical-supply assistant. The revised platform pairs two manipulators; this historical seven-axis chain is a candidate for each arm, pending coordinated workspace, load and collision review. This exploded reference separates the serial chain, cartridge families, covers and power/data harness so interfaces can be reviewed before fabrication.
Development status: engineering preparation. Component selection, fits, joint limits, payload and reach remain unvalidated.
Joint cartridges
Illustrative motors, reducers, paired bearings, encoders, output shafts and housings. Torque, thermal, backlash and service requirements remain engineering decisions.
Build route
Machine structural parts where feasible and use 3D-printed covers as nonstructural protection. Traceable stock or used components remain candidates; shop access, condition and quotations need verification.
Controls and review
Define power/data interfaces, stop and fault behavior, and policy-to-controller rejection cases. Independent protective functions and qualified engineering review remain separate gates.
Next evidence: measured mass and geometry, reviewed loads and stability assumptions, component documentation, CAD/tolerances and an independently reviewed bench plan.
