I designed three manipulator models focused on high accuracy, low cost, and the capability to handle up to 5kg of movement. These models are based on a 6-degree-of-freedom manipulator design that I developed, manufactured, and analyzed several years ago while working as a research assistant (RA) at university. Additionally, my bachelor's thesis was centered around designing a precision manipulator with a harmonic drive gearbox.
Feel free to contact me with any questions. Please respect copyright and refrain from copying any images.