Modular Robotic Arm - Modular Robotic Arm
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Description
Project Description
The system is a 4-axis (expandable) robotic arm designed entirely from scratch with a focus on extreme compactness: the geometry allows the structure to fold onto itself in a resting position, minimizing its footprint.
- Mechanics and Materials: Made of PETG for an excellent balance between thermal and structural resistance, especially concerning the planetary gears. I also experimented with PLA but strongly recommend PETG/ABS. The integration of a system of custom bearings ensures smooth rotation of the joints, eliminating vibrations and improving electronic precision. I chose to use only one motor per joint, and the bearing system prevents "undulations".
- Hardware Control (Arduino Mega): Low-level management is entrusted to an Arduino Mega, which handles motor control and sensor reading. I also added and managed encoders on each motor to know the positions even when the motors are off. Furthermore, I implemented an END stop on each arm.
Full-Stack C#: The software ecosystem is entirely developed in C#, for both backend logic (kinematic processing and serial communication) and the frontend interface, allowing for granular control and centralized data management.
the source code can be found here: https://github.com/andrealai83/robotic_arm
- Dedicated Control Unit: The arm is accompanied by an external control box that houses the electronics, an informative display for real-time telemetry and critical physical controls: Home button for calibration and Emergency Stop. The box can accommodate up to 6 drivers.
The project is still under development, so if you wish to contribute, you are welcome :)
Shopping list:
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 stepper motors: https://www.amazon.it/dp/B09HX26ZHQ?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1
36 ball bearings: https://www.amazon.it/dp/B0BJ836RX6?ref=ppx_yo2ov_dt_b_fed_asin_title
m4 screws of various sizes
100 M3 x 5 x 4 insert nuts https://www.amazon.it/dp/B0CS6VZYL8?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1
4 bearings 50x65x7mm : https://www.amazon.it/dp/B09HX26ZHQ?ref_=ppx_hzsearch_conn_dt_b_fed_asin_title_3
2 bearings 30 x 17 x7 :
License
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