Instructables

An Arduino-powered 4-axis parallel-mechanism robot arm

Picture of An Arduino-powered 4-axis parallel-mechanism robot arm
uArm is a miniature 4-axis parallel-mechanism robot arm, modeled after the ABB PalletPack IRB460 industrial robot arm.

It is made up of laser cut acrylic or wood parts, powered by standard RC hobby servos, and controlled by an Arduino-compatible board.

The basic design is Arduino-controlled, using 4 servos, with 4 degrees of freedom. Three servos on the base control the main movement of the arm and the last servo on the top moves and rotates the object.


uArm can be controlled with keyboard or mouse easily.


Using mouse to control uArm to play Cup Stacking via serial.


Now we are on Kickstarter, you can see more details about this robot here.

 
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Step 1: Materials

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Step 2: Base Assembly

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Secure the two base plates via the corner holes, using four M4-10 rivets and four 32mm-M4 suction cups.

Step 3: Inner Turntable Assembly

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Step 4: Outer Turntable Assembly

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Step 5: Shoulder Plate Servo Assembly

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Step 6: End Effector Assembly

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Step 7: Fore Arm, Back Arm & Connecting Rod Assembly

Step 8: Install all the parts together to make the arm

1. Left Shoulder Plate to Base Assembly.
2. Back Arm to Left Shoulder Plate Assembly.
3. Servo Turntable to Right Shoulder Plate Assembly.
4. Right Shoulder Plate to Base Assembly.
5. Fore Arm to Back Arm & Connecting Rod to Left Shoulder Assembly.
6. Fore Arm Lever to Fore Arm Servo Lever Assembly.
7. End Effector to Fore Arm Assembly.
8. Electronic Module Holder to Shoulder Assembly.

The uArm robot arm is now completely assembled - Enjoy!

Step 9: Install the electronic modules on the arm and make it move

Picture of Install the electronic modules on the arm and make it move
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Install the electronic modules on the arm and make it move.
awesaomeness54 months ago

searching for plans and I found this. for an open source piece of hardware, very little has been released. when and where will the plans be available? Could you make an edition that is not in CAD so that those of us without CAD can still play with the designs?

juliasalles4 months ago

Hi! Nice project!! Is it open source? Is it possible to download the plant? I've searched on your website, gitHub and Open Source Hardware websites but didn't find it.

Thanks!

Awesome Project !!
How can i buy this robotic arm. i am very much interested to integrate it with my UGV.

Ufactory (author)  Faizan Faisal Wali6 months ago

Hi Faizan,

You can back us on Kickstarter.

https://www.kickstarter.com/projects/ufactory/uarm...

SiByte6 months ago

It is possible to get plans for this robot arm?

msaleiro6 months ago

Awesome! Great project! Congratz!

Ufactory (author)  msaleiro6 months ago

Thank you so much msaleiro!