If you want assemble a robotic arm with , then you will have to keep reading until the end. We will tell you, in detail, all the information you need to know to carry out this project without making mistakes.
The first thing we will show you are the components you need to create your first robotic arm. Then, we will explain the step by step that you must take to create these .
Finally, you will be able to read about the programming codes you will use and the ones you can buy to practice the projects that we will indicate. Check out.
What do I need to build a robotic arm with Arduino from scratch?
To assemble a robotic arm with Arduino from scratch you will need to cover the aspects, the software and the hardware. Within the first group is the called SDI.
As for the hardware you will need:
- A . This device has an ATmega328 microcontroller, with 6 analog inputs and 14 digital pins. It has a connector for power and another for a USB port. In addition, it has a button to reset the tasks.
- A generic robotic arm that you can make it with a 3D printer, or a device of a specific modeleg a Tinkerkit Braccio or a LittleArm MG995. In order for you to decide on one or the other model, you must take into account the functions that you want the robot to perform, for this it will be necessary to have more or less servos.
- DC motors. Typically, a small robotic arm has between five and six servos. These motors execute their duty cycle through a 20 microsecond PWM. So you are going to need two types of servos, one; the SpringRC SR311 model for the rotation of the wrist and the clamp, and the second; the SpringRC SR431 to drive the body, shoulder and arm of the robot.
- A module for bluetooth technology HC-05. With this hardware you will be able to control the robotic arm wirelessly. The IEEE 802.15.1 standardized protocol will be used, so you will need to connect pins 1 and 2 to the USART serial port.
- A 5v joystick. This potentiometer will work between 0 and 5v and will take into account the voltage signals in a Vx and Vy plane.
- Generic cables and connectors.
Learn step by step how to build a robotic arm with Arduino from scratch
Next, we will show you how you should proceed to assemble your first robotic arm:
Recognizes all the pins and sectors of the Arduino board
The first thing you should do is familiarize yourself with the Arduino board. For this it is important that you start reading the inspections that are recorded in the electronic circuits. You will realize that you will find a series of pins or inputs that are used in various jobs. In a corner you will find a button (RESET) that you can use to restart the board when it malfunctions or you want the whole process to restart. Inside that same side you will have the analog pins, the 5V and 3.3V input ones and the Vin.
on the shorter side, you will see the inputs for the external power supply and the USB. While for the other sector you will find the digital pins, the ground pin (GND), the tx output, the rx input, and an analog reference pin. Inside the board you will have the microcontroller, resistors, transistors and expanders. Once you have clear all the components of the Arduino UNO model you are in a position to start with the assembly of the pieces.
Carry out the connection of the bluetooth module
In this step you will have to connect the bluetooth module to the Arduino board. To do this you will have to choose the 5v pin of the HC-05 to the power input, the GND of the Arduino to ground and the tx of the module to the rx of the Arduino. In turn, you will have to write the receive pin rx with the transmit pin of the Arduino (that is, the tx or pin1).
Configure the HC-05 module
After you have attached the bluetooth board to the Arduino, You’re going to have to configure the module. To do this, you have to connect pin 34 of the HC-05 to a 3.3V source, then transmit voltage to it and, finally, place it in AT2 mode (you will realize this when the led blinks slowly).
Enter the COM console and write the following commands in the following order:
AT. AT+RESET. AT+ROLE. AT+ROLE=
Make the connection of the joystick to the Arduino board
What you should do now is connect the joystick to the Arduino board that will command the movements of the robotic arm. The connection is very simple, you just have to tie both GND, connect the Vcc of the joystick to the 3.3V pin of the board and the VRx to the A0 pin of the Arduino. Finally, you will have to connect the VRy to A1 and the SW of the command to pin 4 of the board.
Attach the servos to the Arduino
What you will have to do now is connect the motors to the board by means of cables. For SpringRC SR311 model You will have to use the power supply to the Arduino 5V pin, the motor ground to the GND of the board and finally the amperage to pin 9. Regarding the SpringRC SR431 servoyou are going to connect the GND (brown and black) to the Arduino ground, the Vcc to each other and the SIG (white and orange) to pins 10 and 11, respectively.
Assemble the other pieces
This step will depend on the model of robotic arm you have. But so that you have a general idea, you should use all the screws to fix the remaining pieces with the acrylic plates and the plastics that you have. It is It is very important that you have the robotic device manufacturer’s manual at hand. so that you understand the correct union of the pieces.
Do the programming in the IDE
Once you have everything connected, you will be ready to program your robotic arm. But at this rate we will see it in more detail below.
Discover how to program your robotic arm with Arduino so that it does what you want
To program the robotic arm that you just assembled, you will have to go through this programming process:
Design a flowchart
The first thing you will have to do is create all the actions and decisions You will need to take the programming codes in the development software. Considering the example of a robotic arm of the model Tinkerkit Braccio with 6 servos You will have to consider the following scheme: When start the processthe program must calculate the coordinates, if there is a true error, correct it or go directly to the joint points to establish the limits.
In this step you must perform the calculation of TETHA1 to know if it is within the joint limits. In the event that the mentioned limits do not correspond the process must be terminated. But yes elev=elev_min Y accessible=1, then the program must determine if it is an accessible point or if the maximum elevation is reached. If the answer is positive, it must be established whether TETHA2, TETHA3 and TETHA4 They are within the articular limits.
If they are not, the process ends, but if they belong to the limit, then it will be the calculation of TETHAs to execute the saving of the joint variables and just finish the process. Secondly, if the accessible point does not reach the maximum elevation it should be established that the accessible=1 and produce kinematic decoupling. This step to calculate the center of the wrist of the robotic arm, that is, the w point. All this will lead to the program having to calculate TETHA2, TETHA3 and TETHA4 to determine if they are within joint limits.
If it is not, then it will be given that accessible=0 Y elev=elev+n and it will be determined again if it is an accessible point or a maximum elevation is reached. If TETHA2, TETHA3 and TETHA4 are within the joint limits, they will be calculated and the joint variables will be stored in an auxiliary vector. So that graphically have this representation of the flowchartLook at the image that we have prepared.
Enter IDE
Once you are clear about the processes that the robotic arm will carry out according to the flowchart, you will need to enter the Arduino programming environment, and which you downloaded from the main page. When you have executed the file, you will have to open the IDE and go to the tab File, Archivethen you will have to click on the option New to write the code that you should save later.
Configure the Arduino board
Make sure you have the UNO model configuredfor this you will have to go to the Tools function and then click on License plate. A menu will be displayed in which you will have to choose the correct Arduino board version.
Write program commands
What you should do now is copy the codes that we show you below to execute the actions that the arm robotic Tinkerkit Braccio. You should consider that if you choose another device model, the codes will be the same, but you will have to change the name of the libraries.
The steps are:
Get the robotic arm library for Arduino
In this case we take the Braccio hardware as an example, so we will show you the codes that you must enter in the Arduino IDE:
/* Commands created in this project: “/arduino/custom/base/value: 80” -> Move the base of the Robotic Arm to 80 degrees “/arduino/custom/shoulder/value: 150” -> Move the shoulder of the Arm 150 degrees “/arduino/custom/elbow/value: 45” -> Moves the Robotic Arm’s elbow 45 degrees “/arduino/custom/wristv/value: 10” -> Moves the Robotic Arm’s wrist 10 degrees “/arduino/custom/wristr/value: 120” -> Move the wrist of the Robotic Arm to 120 degrees “/arduino/custom/gripper/value: 73” -> Close the gripper “/arduino/custom/ledon” -> Turn LED 13″ on/arduino/custom/ledoff” -> LED 13″ off/arduino/custom/servo:3/value:73″ -> Move servo to pin 3 at 73 degrees”/arduino/custom/sayAdios ” -> Execute the sayAdios() function. The Robotic Arm says “Bye” with the gripper “/arduino/custom/takesponge” -> Execute the takeponge() function. The Robotic Arm carries the large sponge that you can find in its box. “/arduino/custom/showsponge” -> Execute the showsponge() function. The Robotic Arm displays the sponge to the user “/arduino/custom/throwsponge” -> Execute the throwsponge() function. Robot Arm throws sponge / # include < Wire.h > # include < ArduinoWiFi.h > # include < Servo.h > # include < Braccio.h > // Initial value for each motor int m1 = 0 ; int m2 = 45 ; int m3 = 180 ; int m4 = 180 ; int m5 = 90 ; int m6 = 0 ; boolean moveBraccio = false ; servo base; servo shoulder; servo elbow; Servo wrist_rot; Servo wrist_ver; servo clamp; void setup() { // Robot Arm initialization begin(); // Initialization of the WiFi Uno begin(); println…
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