In this instructable I gonna try to describe how to make a robotic arm with parts from a printer, and control it using a NES gamepad.
It may look like a hard work but I have prepared templates for all the parts and I try to take pictures for all the angles in order to make it simple.
Also it is a really cheap robot, most of the parts come from a dead printer.
I used two PIC16F628A microcontrollers because only one was not enough for all the motors, they are pretty cheap and easy to get instead of a PIC with more pins.
Age group: only me:18+.
Step 1: Tools and Materials
Not many tools are required, a rotary tool is perfect for cut the metal and the plastic, also if you have a driller it could help with all the holes that you have to do.
For the electronics boards you will need a 30w soldering iron.
Most of the stuff come fron a dead printer HP660, other models of the printer like the HP670 are almost the same and will be fine. The things you must take from the printer are detailed in the next step.
For controlling the robot I use a regular Nintendo Entertainment System gamepad, it is not an original gamepad, any kind will work, and it is not hacked at all, you won't need to modify it to work with the robot.
From another printer you need the stepper motor that is attached to the belt, because the HP printer use a DC motor for this and they are harder to control.
Three plastic gears are required, two of the same size and one smaller.
The servo in the hand was broken so y took the wires directly from the motor and control it as a regular dc motor.
A block of plumb for using as counterweight, if you cant get one of these you can replace it with any other heavy thing.
Electronic stuff for the boards are detailed in step 11.
Wood: one piece of 54x16 cm, one piece of 11x11 cm and four pieces of 2x3 cm.
Aluminium: one bar of 8 cm and one bar of 20cm