Reach 498 mm, payload 0.3 kg rated (0.45 kg calculated max)Speed: joints up to 360 deg/s (shoulder 75 deg/s), gripper point up to 0.78 m/sPrinted cycloid gearboxes on J1-J3 (NEMA 17), belt wrist, geared J6, spring-balanced shoulder220 x 220 x 250 mm printer; STL already oriented, STEP, BOM, assembly + wiring guides, actuator test rigReady-laid print plates (.3mf, one per 220 x 220 bed) + motion-demo video of the arm (CAD simulation) Designed and verified in CAD and simulation; gearbox capacity is calculated (not yet measured). Images are renders. Digital files only.