[Maker’s works] DIY Robotic Arm- meArm

There was a project for a Mars expedition car before- meArm robot arm. Here are some of its biggest features in detail~

Machine component

  • Machine components

  • Electromechanical parts
  1. Arduino nano evb* 1
  2. Arduino UNO nano dule-using expanding board* 1 (Available Substitute: UNO and its expanding board)
  3. SG90 Servomotor * 4  (RecommendedMG90S * 1 + SG90 * 3)
  4. Dupont Line with pin and socket * 3 

Start Assembling 

  • Notice before assembling:
  1. All screw holes in this kit are M3 holes. However, there are 2 different types. One is loose and the other is tight (self-tapping hole). The whole components can still be loosened after the screw passes through the loose screw, while they cannot be loosened after the screw passes through the tight hole. Please pay attention to the direction when passing through the screw.
    There are some possible errors during processing. If you find the tight hole too loose, please apply some glue before locking the screws, or use the quick-drying glue to fix the hole after locking the screw.
  2. To easily identify during assembling, we need to define the names of the various parts of the robot arm. Put the arm in front of your chest; see as the clip in the same direction forward. Then, the motor on the left side is the left motor, the motor on the right side is the right motor, the motor on the bottom is the base motor, and the motor at the clip is the clip motor.
  3. Most importantly, when fixing the machine components to the motor, it is recommended that the clip motor, right motor, and base motor should be powered and fixed at 90 degrees; the left motor should be powered and fixed at 170 degrees (Note A). At last, tighten the screws.

Note A:
Some SG90 servo motors cannot go to 180 degrees. If the program continues to require it to be 180 degrees, the motor may be burnt out. It is suggested to figure out the range of rotation of the servo motor before assembling, and the 170 degree here is only a conservatively safe angle, not an absolute one. (The script of making the motor rotate to a specific angle)

  • Assembling Process
  1. Assemble clips.

Prepare the following components.

Use two M3x8 screws to lock the clip.

Use four M3x10 to lock the following components.

Use the following program code to rotate the servo motor to 90 degrees:

[learn_more caption=”Program Code” state=”open”]#include <Servo.h>
Servo myservo; // create servo object to control a servo
void setup() {
myservo.attach(9); // attaches the servo on pin 9 to the servo object
myservo.write(90);
}
void loop() {
}[/learn_more]

2. Put three rods on the clip.

3. Assemble the right/left board.

Use the following program code to rotate the servo motor to 170 degrees:

[learn_more caption=”Program Code” state=”open”]

#include <Servo.h>
Servo myservo;  // create servo object to control a servo

void setup() {
myservo.attach(9);  // attaches the servo on pin 9 to the servo object
myservo.write(170);
}

void loop() {
}

[/learn_more]

When the servo motor is powered, insert the previous components into the servo motor and lock it with the small screw attached to the servo motor.

 

4. Assemble the H-shaped component.

Use the following program code to rotate the servo motor to 90 degrees:

[learn_more caption=”Program Code” state=”open”]

#include <Servo.h>
Servo myservo;  // create servo object to control a servo

void setup() {
myservo.attach(9);  // attaches the servo on pin 9 to the servo object
myservo.write(90);
}

void loop() {
}

[/learn_more]

When the servo motor is powered, insert the previous components into the servo motor and lock it with the small screw attached to the servo motor.

5. Assemble the base board.

6. Put the right board and baseboard together.

7. Put the left board and baseboard together.

8. Assemble the clip and the H-shaped component.

9. Assemble the control panel.

Fix the Arduino control panel to the baseboard.

Run the servo motor DuPont Line of the clip through the round hole of the H-shaped part, and connect the pin of the 3P DuPont Line to the socket of servo motor DuPont Line for extended use.

10. Fix the Arduino control panel to the baseboard, and then deal with the wire connection. (For clear demonstration, the mechanical arm part is removed)

The wiring of the servo motor and the Nano expansion board is as follows:

Expansion board        servo motor
5V         ———–           VCC
GND     ———–          GND
D2      ———–  Orange line to base motor
D3      ———–  Orange line to right motor
D4      ———–  Orange line to left motor
D5      ———–  Orange line to clip motor

 

11. Upload the program

Conclusion

For more program settings and disassembling information, click on the link below, including the example of controlling the robot arm using the joystick.

More Information (Step by step disassembly; programming)

[learn_more caption=”Reference” state=”open”]

[/learn_more]

(Editor: Jenny Yeh)

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