This is the blender Image where each joint of the robotic arm has its unique origin as required and is arranged in a Hierarcheal fashion and after that i have applied ‘All transforms to delta’ to apply the transforms, where all the values in the item panel is set to 0.
The drive contains 7 obj files that makes up the robotic arm. Upload them all together to get the complete model in blender.
The drive also contains the blend file (version 4.0), where all the joints are set with parent/child relation as needed.(ready to be exported).