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.