Introduction: Double Micro Servo Robot Arm

In this tutorial you will be making a double servo robot arm controlled with a thumbstick!


Two Micro Servos (TowerPro SG90 and With the Extension


Jumper Wires

Arduino UNO

Breadboard Power Strip


Glue (Super Glue Suggested)


A little knowledge with Arduinos

Step 1: Cut Out Cardboard Pieces

You will need these cardboard/plastic pieces:

3" by 10/16" X 4

4" by 14/16" X 2

6.5" by 4.5" X 1

1" by 1 1/4" X 2

1" by 1 1/4" X 1 With circle cut out in the middle

2" by 2" by 2" Triangle X 1

2" by 2.5" X 1

After you cut these out you should move to the next step.

Step 2: Attach Cardboard to First Servo

Attach the 4" by 14/16" pieces of cardboard to one servo like the image above. Attach two or more zip ties to the cardboard and servo to hold it in place. You could also use glue or tape but I suggest zip ties.

Step 3: Attach the First Servo to the Second Servo

Attach the ends of the cardboard that aren't connected to anything to the second servo as shown above. Again I would suggest using zip ties. On the second servo make sure that you have the plastic attachment that is a circle then one side extended.

Don't understand? Screw the extension onto the servo then glue the extension in between the two pieces of cardboard used in the last step. Then use a zip tie to hold it together even stronger.

Step 4: Attach the Second Servos Arm

Use the 3" by 10/16" pieces of cardboard as the arm of the second servo. Attach two of those pieces to the second servo just how you attached them to the first servo. Then use the last two 3" by 10/16" pieces of cardboard to extend the second arm, it doesn't really matter how you put the two pieces on just as long as the arm is extended.

Step 5: Attach the Arduino to the Base

Attach the Arduino to the 2" by 2.5" piece of cardboard, I used screws but you can use tape or zip ties if you want. Then glue the 2" by 2.5" piece to the 6.5" by 4.5" piece of cardboard

Step 6: Attach the Thumbstick

Stick the thumbstick through the cardboard with a hole in it. Then trim the triangular piece so it is a 2" by 1" by 1" by 1" trapezoid and use the two 1" by 1 1/4" pieces as well. Glue all of these pieces together as seen in the first photo. Make sure that the thumbsticks GPiO pins are sticking toward the inside of the base. You do not need to glue the thumbstick down unless it is super loose inside its housing.

Step 7: Assemble the Rest

Glue the rest of the stuff to the base. Glue the first servo down to the base the first image explains. (Sorry for the grainy image) Attach the breadboard power strip next to the Arduino. (Schematics next)

Step 8: Schematics

Attach all the pins and jumper wires like this. To avoid soldering I would attach the the +5v and GND the the breadboard power strip and transfer power on that strip. (Next is code)

Step 9: Uploading Code Using the Arduino IDE


Servo myServo1; Servo myServo2;

int servo1 = 5; int servo2 = 6; int joyY = 1; int joyX = 0;

void setup() {




void loop() {

int valX = analogRead(joyX);

int valY = analogRead(joyY);

valX = map(valX, 0, 1023, 10, 170);

valY = map(valY, 0, 1023, 10, 170);





Step 10: You're Done!

If your arm isn't working then make sure to go back and check all of your steps! Thanks for reading and have a good day!

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