Robotic Arm!

ROBOTIC ARM: UPDATE Sorry for not posting for a long time
What have I done?
I have started to print some of the parts in PETG and PLA, I have mainly printed the base where it holds the motor and the whole arm, I’ve printed the shoulder and the arm itself. I still have to put it together. Also, I have finished the electronics, and it works I even tested it. No magic smoke!
What am I doing

1. Hardware

• Still working on the servo gripper made a design but I didn’t really like it, so I changed it to something else but still haven’t printed it out

1. Electrical

• Finished coding and wiring two of the four drivers yet to code the next two the TB6600, and the other DRVI do have to get more jumper wire since I don’t have a lot left and the good this is, it finally work and I am working on a schematic in KiCad so I can post it on GitHub for people to see my wiring, and stuff.

1. Software

• I have started the coding part of it mainly tests just to make sure the arm moves and doesn’t start tweaking out.
• I have to add the cad to the GitHub so you guys can see, it’s not the best cad modelling but I’m happy with it since this is my first big project.

What am I yet to do?
I want to add inverse kinematics, though this is a simple and fun project I really want to add this since this would be an amazing thing to add to my project. I have started to learn about rotation and transformation matrices which would greatly help me, I would like to also create an online web visualizer in where it has a 3D plane where the arm is.

ROBOTIC ARM
What have I done?
I have already 3D modeled most of the parts including the base, and multiple iterations of the arm and elbow. I have bought all the components including the NEMA 23 motor and the NEMA 17 motors.

What am I doing?

1. Hardware

• I am finishing the modelling of the gripper for the servo and the TPU tabs to allow for the gripper to actually grip things

1. Electrical

• I am doing the wiring for the drivers but I need to get some more wires because I don’t have enough at the moment.
• I am using a DC power supply for the arm, I am supplying around 24 volts for all the motors, I prob might have to supply just a little more because of wire resistance and since all of them are being powered by one input and 4 outputs.
• The drivers I am using are the DRV8825, these are used for the 17s and TB6600 for the 23, the 23 likes the TB660 better than the DRV8825 so I’m using the TB6600

1. Software

• I haven’t started the coding yet, but I will
• All the cad is modeled on OnShape

What am I yet to do?
I am yet to start the coding; this will be done in C++ coded on VScode then copy paste into Arduino IDE to upload the code to the ESP32. Soon I will start to 3D print everything, mostly in PLA but things that carry or bear weight will probably be done in PETG so it will be stronger.