Introduction: Easy and Simple Arduino Robot Arm

Hello fellow iblers!

This is to serve as a small guide to replicating my most recent project; an Arduino based robotic arm.

First off I would like to acknowledge the help of Instructables user steveastrouk for getting me started on the programming, and my good friend Sean Ulrich for spending 6 hours debugging this thing with me.

Do to a technology failure I don't have any of the progress pictures otherwise this would be a full ible, I apologize for the inconvenience and hope that I supply enough information here to help get you on your way. So let's get started!

Here is a list of parts I used:

1x Arduino Uno
4x Large Servo
1x Medium Servo
1x Robotic Claw
1x Small Breadboard
4x Potentiometer
2x Toggle Switch
1x Battery Case for 4 D-cells (6v)
1x Arduino Battery Clip
~2 square feet of birch plywood 1/8' thickness
1/2 inch diameter basswood dowels
2x 1'x1'x3' blocks of basswood
~2.5 lbs of lead beads
5x servo wire extensions
Some decent compression spring to keep the load off of the servos when fully extended
Some kind of enclosure (I used tin boxes I bought at Michael's)

And an absolute buttload of hot glue.

The Code is attached as a txt file.


Please take not of the footnotes on the pictures for more details.

EDIT: Here is a video-

Comments

author
Hanna+M made it!(author)2016-10-25

Hello, i wanted to know how to program the arduino, a few pointers please

author
afarhan7 made it!(author)2016-07-19

someone can explain this line of code

val = map(val, 0, 1023, 0, 179);

author
MrHazee made it!(author)2016-07-22

yeah, its "mapping" the value of the variable "val" and stores the new value in variable "val". I.e, the analog range that the arduino reads is between 0-1023 and you wanna control the servo with this value, but the servo operates on values between 0-179. So map-function is scaling the value (in this example) from range 0-1023 to 0-179

author
WalidS11 made it!(author)2016-03-15

please can you send me the circuit diagram

author
sundarofclass10 made it!(author)2016-02-19

pls send me the circuit diagram

author
siddhant+maurya made it!(author)2015-11-18

[Robotic arm home made - YouTube]. Have a look at it! https://m.youtube.com/watch?v=rnFP42gii4k

author
shafrasn made it!(author)2015-11-16

I also have MG995 metal gear Servos and can I use these servos for this project. Do you know whether this will work or not? Please give us the model and configuration of the Servos that you used.

author
RishikeshC made it!(author)2015-11-16

I made it but the servo act randomly

When When I power it the servo vibrate back and forth on their own

They also respond late to potentiometer a little late

I have sg5010 servos and 100k ohm pots

PLS HELP ASAP

author
RishikeshC made it!(author)2015-11-16

I used so 50th motors and 100k ohm potentiometer is it okay ?

author
RishikeshC made it!(author)2015-11-16

I made it but the motors are behaving random

Like when u power it the servos on the forearm and shoulder start vibrating on their own move back and forth about 4-5 mm also they respond to the potentiometer a little late

PLEASE HELP ASAP

author
shafrasn made it!(author)2015-11-14

can you please tell me the model and type of servo motors you used in the project

author
shafrasn made it!(author)2015-11-13

Hello,

I have planned to use tower pro SG5010 (stall torque (11kg/cm)) for this project. Can I use them for this project. Please help me in this regard.

author
RishikeshC made it!(author)2015-10-15

I dint understand few things:

1) what are the potpin?

2) what do the toggle switches Do?

Also I would like to have the circuit diagram

Any help would be appreciated thnx

author
martzsam made it!(author)2015-10-15

The circuit diagram is available within the instructable. The toggle switches stop and start the flow if power from both the arduino and the servos. The potpin is the name I gave to the pins that the potentiometer s connect to in the code.

author
RishikeshC made it!(author)2015-10-28

Thank you really appreciate the help

author
RishikeshC made it!(author)2015-10-28

I see thanks for clearing

author
omodolor.stevedan made it!(author)2015-10-18

a potpin is name he used as a variable to indicate the digital in the motherboard

author
mohammed+zaki made it!(author)2015-09-14

i need source code in c program

author
thecrazylol made it!(author)2014-10-15

did the same setup, but only 3 servos and 3 potentiometers. everything else is the same. deleted the 4th and 5th servo in the code and also deleted the 4th and 5th potentiometer. I have an external power source of 5v. the servos are working, but don't respond as i turn the potentiometer. what did go wrong?

author
martzsam made it!(author)2014-10-15

If you post a picture of your setup i will be able to help you better.

Maybe you didn't attach the wires to the approriate pins?

author
KR10 made it!(author)2015-07-16

can u send pdf to me

author
thecrazylol made it!(author)2014-10-15

servo1 is attached to pin3, servo2 to pin5, servo3 to pin6. potentiometer1 to analog pin A1, potentiometer2 to analog pin A2 and potentiometer3 to analog pin A3. like it is described in the code, but then with two less.

IMG_0229[1].JPGIMG_0230[1].JPG
author
martzsam made it!(author)2014-10-15

It looks like you are sharing a power source between the potentiometers and the servos. I your source doesn't have the ability to supply enough amps your pots could starve out.

Here is a quick checklist of things to try.

1. Run the servos on a separate source from the arduino board.

2. Run the pots on the 5v out port from the arduino and ground properly.

3. Make sure the arduino is receiving 9v and

4. Make sure your servos are getting the optimal amount of voltage for them to function. (5v may be a bit low.)

5. Double check the code to make sure all your pins are correct.

author
KR10 made it!(author)2015-07-16

can u send pdf file

author
instructablesrobotics2015 made it!(author)2015-07-11

author
aashlesha made it!(author)2015-04-29

author
bakhosrahme made it!(author)2014-12-25

Can you use stepper motors instead?

author
bakhosrahme made it!(author)2014-12-25

Can you use stepper motors instead?

author
andrea_senz made it!(author)2014-11-30

Hi Sir, i can't understand some things...

In the picture you posted there is 4 potenziometer while in the diagram circuit you use 5 potenziometer and also in source code you declaire 5 potenziometer!

Also , in the diagram circuit you attach the signal of the servos in digital pin 1,2,3,4 and 5 while in the code source you attach the servo in 3,5,6,9,12

Can you make me understood, please?

thank you

author
yoppo made it!(author)2014-11-22

hello, excuse me but what are the specs of the servos? are they continuous rotation?

author
martzsam made it!(author)2014-11-23

They are just size large 180 degree servos. NOT continuous.

author
srishti+b made it!(author)2014-07-29

cn i hv its circuit diagram

author
martzsam made it!(author)2014-07-30

A diagram of it's wiring is already available in the instructable :)

author
spyrossan made it!(author)2014-05-05

which arduino could I use for it??

Arduino Uno R3 Microcontroller - Atmel ATmega328 or Arduino Uno - Atmel Atmega 328-PU



author
martzsam made it!(author)2014-05-06

I used the Arduino Uno R3.

author
ovydyu made it!(author)2014-03-31

Hi,can you please tell me the specifications for the servomotors.I have found many large servos with different specifications and i don't know exactly what to buy.

It will be of big help if you putt the links from where you buy it. Thank you.

author
rosman1 made it!(author)2014-03-30

about the wrist servo, this is just a idea, but maybe it is because there is something wrong with the servo. does it work by itself?? Thanks

author
aaggarwal7 made it!(author)2014-03-26

Can u mail me the PDF on a.agarwal13@gmail.com
Thank you very much!!!

author
martzsam made it!(author)2014-03-28

https://www.instructables.com/pdf/Easy-and-Simple-Arduino-Robot-Arm/Easy-and-Simple-Arduino-Robot-Arm.pdf?includeHeader=on&includeTableOfContents=on&includeImages=on&imageSize=MEDIUM&includeImages=off&includeComments=off&includeTableOfContents=off&includeRelated=off&includeHeader=off

this is a link that should take you directly to the PDF.

author
msafwan made it!(author)2014-03-01

Sir can i make it work wirelessly

author
jlim34 made it!(author)2013-10-15

Hey sir, I am doing similar project, is there any way make the robotic arm work like this when we do a colour sorting project? means that the robot will grab the object and run in a predesigned path and allocated it into different colour station along the path

author
martzsam made it!(author)2013-10-15

Hi! This is a manually controlled robot, meaning their is no autonomous function. A robot that performs a set of predefined tasks would require a bit more programming effort and a different set of hardware. Although it wouldn't be too hard to adapt this robot for your purposes. Do you have access to some kind of color sensor?

author
jlim34 made it!(author)2014-02-11

Hey sir, yes I have, I have bought Arduino servos all those plus the TSC 3200D colour sensor. here is the image below... Can we contact at email? or facebook? here is my fb.

https://www.facebook.com/jefflimdestiny

Here is the picture on some of the material

20140211_163915.jpg
author
aminerobo made it!(author)2013-12-06

Hey sir, I am want similar project , but with Remote Control
anyone want to help
please
thank you

author
keena98 made it!(author)2013-11-02

how exactly did you construct the hand?

author
yurekang made it!(author)2013-10-08

what i can't download the pdf?

author
martzsam made it!(author)2013-10-08

Only pro users can download the PDF.

author
sindhuja+sindhu made it!(author)2013-09-01

sir im going to do the same project.please can i know the specifications of the servo motors.and can u please give the comments for the code lines

author
DeVid3aN made it!(author)2013-06-28

hey what OHM potentiometers? probably a dumb question but I'm going to try construct something like this and noticed there was a massive range of them. im a newbie to this kind of thing

thanks

author
martzsam made it!(author)2013-06-28

10k. They are pretty much the best for this project. Don't limit yourself to knobs though! These come in all kinds like sliders too.

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