My build is still in progress, but the arm is going on top of a custom server cart for portability and rack-mounted hardware. I am testing a magswitch mount for the base - I expect to use three or four contact points, but these are two 150 lb units so far.
https://anninrobotics.com/wp-content/uploads/2025/07/Racks-and-Magnets-and-Rails-Oh-my.avif
The cart will have a rack mounted computer but also has Jetson nano for machine learning and image processing. I intend to use some of the other resources shared here for ROS and MoveIt.
https://anninrobotics.com/wp-content/uploads/2025/07/Racks-and-Magnets-and-Rails-Oh-my_2.avif
Just a render so far - need to pick up some steel and should be able to fabricate this in the next few days.
https://anninrobotics.com/wp-content/uploads/2025/07/Racks-and-Magnets-and-Rails-Oh-my_3.avif
I also will be DIN rail mounting all the components, and using the CZH breakouts (those are sweet!). I have most of the bracketry designed, and am in the process of building out the enclosure.
Wow, that looks great. I like the cart panel for the GX16 connectors.
@chris-annin Thanks! I was going to put it on a 6U door similar in height to the plastic box from the BOM until I realized it might fit on a 1U. Should leave lots of accessible room for servicing.
Looks nice!,
Hello. I like this approach. What rack did you use?
I used the AxcessAbles 16U - https://www.amazon.com/gp/product/B07XWL296H/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1
There is a Samson one that is popular, but this is a good bit cheaper and seems to be identical. It is sturdy and assembles easily.
Came out pretty close to the render, which isn't always the case.
https://anninrobotics.com/wp-content/uploads/2025/07/Racks-and-Magnets-and-Rails-Oh-my_4.avif
this is creative! look so nice. But I believe it take lot of effort? Beside, you may have some challenges on durability of robot arm base?
the magnet base may not be the best choice if I am lifting a heavy load or moving at high acceleration rates. However, if properly designed it could work even then. The only weak spot right now is shear. That can be mitigated by adding anti-slip bumpers adjacent the magnet contact points, or worst case having magnets not just on the top of the cart but overhanging an edge or corner.
Ultimately the base will be made in a different material.
Made some progress on the custom pieces. The stepper controllers are all mounted on the DIN rail backplane. I accidentally assumed there were 6 of the larger DM542T + the travel rail when laying it out, instead of 5 + 1 smaller DM320T + the travel rail. I'll call it "future-proofing" :-).
Also made the first prototype of the 1U cover from 22ga steel. It's very flimsy when the flat pattern is cut, but gets very stiff (more than enough for this use) once the flanges are bent in. I had to do some cleanup on every hole as the plasma undercut for some reason - likely I need to adjust the kerf for this material. Next step is paint!
https://anninrobotics.com/wp-content/uploads/2025/07/Racks-and-Magnets-and-Rails-Oh-my_5.avif
https://anninrobotics.com/wp-content/uploads/2025/07/Racks-and-Magnets-and-Rails-Oh-my_6.avif
https://anninrobotics.com/wp-content/uploads/2025/07/Racks-and-Magnets-and-Rails-Oh-my_7.avif
https://anninrobotics.com/wp-content/uploads/2025/07/Racks-and-Magnets-and-Rails-Oh-my_8.avif
