Arduino Stepper Robotic Arm

18/08/2025: in the new version of the joints I have also introduced EndStops to reset the position and encoders on each axis, as encoders I use simple AS5600, you can find the support in the project: https://makerworld.com/it/models/1703548-as5600-encoder-stepper-nema-17#profileId-1806804, furthermore, I have now reinforced the joints by adding an M3 screw for each gear, it happened that the strong applied pressure would break the PETG supports, now with a reinforcing screw it no longer happens

Thanks to the encoders, the software is now able to read the position even with manual movements, this allows you to turn off the motors, manually move the arm, and save the position to re-execute it later

Stay tuned

This is a reinterpretation of an existing project online, in which I am making several modifications and improvements to the original designs, primarily the rotation based on ball bearings, the programming part is entrusted to Arduino and I am evaluating integration with a ROS system based on Raspberry, if the project generates interest, I will keep you updated on all phases of development

You will need:

Arduino Mega: https://www.amazon.it/dp/B071W7WP35?ref=ppx_yo2ov_dt_b_fed_asin_title

6 Drivers: https://www.amazon.it/dp/B0CLLX35LJ?ref=ppx_yo2ov_dt_b_fed_asin_title

4 NEMA 17 steppers: https://www.amazon.it/dp/B09HX26ZHQ?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1

2 NEMA 11 steppers (optional, in my case I used an electromagnet)

36 ball bearings: https://www.amazon.it/dp/B0BJ836RX6?ref=ppx_yo2ov_dt_b_fed_asin_title

M4 screws of various sizes

Also added management of a printable Bluetooth pad at the link : https://makerworld.com/it/models/1441854-universal-arduino-joypad

tests can be performed with the code:

I have also made all the code public: https://github.com/andrealai83/robotic_arm

it is recommended to print the gears with resistant materials, PETG/ABS/PETG CARBON

If you need information, comment,