3D Robotic Arm With Bluetooth Controlled Stepper Motors

Introduction: 3D Robotic Arm With Bluetooth Controlled Stepper Motors

About: Hello, my name is Carlos. I have a YouTube channel where I share my projects in https://www.youtube.com/c/carlosvolt

In this tutorial we will see how to make a 3D robotic arm, with 28byj-48 stepper motors, a servo motor and 3D printed parts. Printed circuit board, source code, electrical diagram, source code and lots of information are included on my website

Step 1: Application

Step 2: Circuit

Step 3: Project Materials

Arduino uno

Characteristics

  • Microcontroller: ATmega328
  • Operating Voltage: 5v
  • Input Voltage (Recommended): 7 - 12 v
  • Digital Input / Output Pins: 14 (Of which 6 are PWM outputs)
  • Analog Input Pins: 6
  • Flash memory: 32 KB (ATmega328) of which 0.5 KB is used by Bootloader.
  • SRAM: 2 KB (ATmega328)
  • EEPROM: 1 KB (ATmega328)
  • Clock Speed: 16 MHZ.

Step 4: Stepper Motor 28BYJ-48

The parameters of this stepper motor are:

  • Model: 28BYJ-48 - 5V
  • Nominal voltage: 5V (or 12V, value indicated on the rear).
  • Number of phases: 4.
  • Speed reducer: 1/64
  • Step angle: 5,625 ° / 64
  • Frequency: 100Hz
  • DC resistance: 50Ω ± 7% (25 ° C)
  • Traction frequency:> 600Hz
  • Non-pull frequency:> 1000Hz
  • Traction torque:> 34.3mN.m (120Hz)
  • Self-positioning torque:> 34.3mN.m
  • Friction torque: 600-1200 gf.cm
  • Drag in torque: 300 gf.cm
  • Insulation resistance> 10MΩ (500V)
  • Electrical insulation: 600VAC / 1mA / 1s
  • Insulation degree: A
  • Temperature rise: <40K (120Hz)
  • Noise: <35dB (120Hz, no load, 10cm)

Step 5: ULN2003APG

Main Specifications:

  • 500 mA nominal collector current (single output)
  • 50V output (there is a version that supports 100V output)
  • Includes output return diodes
  • Inputs compatible with TTL and 5-V CMOS logic

Step 6: Features of Servo SG90 Tower Pro

  • Dimensions (L x W xH) = 22.0 x 11.5 x 27mm (0.86 x 0.45 x 1.0inch)
  • Weight: 9 grams
  • Weight with cable and connector: 10.6 grams
  • Torque at 4.8 volts: 16.7 oz / in or 1.2 kg / cm
  • Operating voltage: 4.0 to 7.2 volts
  • Turning speed at 4.8 volts: 0.12 sec / 60º
  • Universal connector for most radio control receivers
  • Compatible with cards like Arduino and microcontrollers that operate at 5 volts.

Pinout

Orange–> Signal

Red–> Positive

Brown–> Negative

Step 7: HC-05 Bluetooth Module

  • Works as a bluetooth master and slave device
  • Configurable using AT commands
  • Bluetooth V2.0 + EDR
  • Operating Frequency: 2.4 GHz ISM Band
  • Modulation: GFSK (Gaussian Frequency Shift Keying)
  • Transmit Power: <= 4dBm, Class 2
  • Sensitivity: <= - 84dBm @ 0.1%
  • BERSecurity: Authentication and encryption
  • Bluetooth profiles: Bluetooth serial port.
  • Distance of up to 10 meters in optimal conditions
  • Operating Voltage: 3.6 VDC to 6 VDC
  • Current Consumption: 30 mA to 50mA
  • Chip: BC417143
  • Version or firmware: 3.0-20170609
  • Default Baud: 38400
  • Baud rates supported: 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200.
  • Interface: Serial TTL
  • Antenna: Integrated in the PCB
  • Security: Authentication and encryption (Default password: 0000 or 1234)
  • Working temperature (Max): 75 ° C
  • Working temperature (Min): -20 ° C
  • Dimensions: 4.4 x 1.6 x 0.7 cm

Step 8: 4 LEDs (optional)

Step 9: Pins (optional)

Step 10: Jumper

Step 11: PCB

Step 12: Source Code

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