4-axis Robotic Arm - Reference only
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I am sharing the robotic arm that I built as a school project.
Robotic arm program and Inventor 2027 files
Disclaimer: Please note that I will not be publishing detailed assembly instructions, complete parts lists, or detailed documentation for this specific build.
Goal: The primary purpose of this document is to serve as a high-level reference and source of ideas for anyone undertaking their own custom robotic arm project.
Note: The code for this project was created with Gemini and, while functional, is not optimized.
If you are looking to build a robotic arm but your focus is not on developing and constructing your own design, you should look into the established Arctos and Annin Robotics robotic arms.
Rough Bill of Materials (Mechanical Components Only)
This list details the approximate mechanical components used in the construction of the arm, provided as a reference for the types of parts involved.
| M3 Threaded Insert | 130 |
| M3x10 BHCS (Button Head Cap Screw) | 78 |
| 61810 Ball Bearing | 1 |
| DIN 912 - M3 x 10 SHCS | 5 |
| DIN 912 - M3 x 8 SHCS | 4 |
| 61808 Ball Bearing (Sealed) | 2 |
| F695 ZZ Flanged Bearing | 2 |
| NEMA17 Stepper Motor (Black) | 2 |
| GT2 80T Pulley (Powge) | 1 |
| GT2 20T Pulley 6mm | 2 |
| M5 1mm Precision Shim | 10 |
| DIN 125 - A 3.2 Washer | 9 |
| HW2948WC Bearing / Component | 12 |
| DIN 912 - M5 x 25 SHCS | 2 |
| DIN 934 - M5 Hex Nut | 4 |
| GT2 Timing Pulley 20T 10mm (8mm Bore) | 1 |
| GT2 Timing Pulley 12T | 1 |
| NEMA17 Stepper Motor (Short) | 1 |
| M3x8 BHCS (Button Head Cap Screw) | 15 |
| 6656K101 Ultra-Thin Ball Bearing | 2 |
| DIN 912 - M3 x 30 SHCS | 7 |
| 161806 Ball Bearing (Sealed) | 2 |
| DIN 7991 - M3 x 8 Countersunk Screw | 26 |
| DIN 912 - M5 x 20 SHCS | 2 |
| RDS3225 25kg Digital Servo (with brackets) | 1 |
| 7kg High-Torque Servo Motor | 2 |
| DIN 912 - M2.5 x 5 SHCS | 2 |
| DIN 912 - M3 x 12 SHCS | 1 |
| KT-010-2x10 Self-Tapping Screw | 7 |
| GT2 Timing Belt 10mm x 226T | 1 |
| GT2 Timing Belt 6mm x 198T | 1 |
| GT2 Timing Belt 10mm x 252T | 1 |
| GT2 Timing Belt 10mm x 288T | 1 |
Electronic Components Used
- ESP32-S3 (Microcontroller)
- TMC2209 ×3 (Stepper motor driver)
- NEMA17 Stepper Motor ×3
- Servo Motor ×3 (Joint 4 + 2× Gripper)
- KY-023 Joystick ×2 (2-axis analog)
- KY-040 Rotary Encoder ×1
- SH1106 OLED Display ×1 (128×64, I²C)
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