I made this arm because I had several STEM teachers telling me how robotics kits were either too expensive or just uninteresting. So I took a weekend and built the first couple of iterations of this project. I am spending my time now creating tutorials and formalizing the design to make it a kit to use in classrooms.
All instructions, files, parts links, and other resources can be found at 3D Printed Robot
- 1 Arduino Uno
- 1 Mini Breadboard
- 4x MG90S microservos
- 1x 6v 1a power supply
- 3-D printer
Total cost of project <$50
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Step 1: Download the 3-D STL Files and Print
All the .STL files for this arm can be found at 3d Printed Robots
The design was made in Autodesk inventor.
Step 2: Print
I printed the pieces using a Makerbot Replicator 2X. This lets me make the parts hollow, and therefore lighter. I have not tested if solid parts still work well.
I did use a raft with the parts though it is not necessary.
You may choose what gripper you use from the files. There is one that holds a pen and a traditional pincher whose fingers are geared together.
Step 3: Assemble
All the locations for the servos are clear.
For all servos attach the horn to the part first and then add servo. Most of the joints are press-fits so there is no need for a screw in the horn. But a screw is necessary for the base servo attachment.
For the electronics Follow the diagram.
Note: Test the servos and circuit before assembly. When you assemble, rotate servos to an as far as you can to one extreme and then mount the piece. This will ensure that the arm parts do not contact each other and bind.
Step 4: Start Python GUI
Download the python and arduino code. I used a linux machine to run the code. But it can be done on windows.
Using this code you will be able to control the position of each of the joints of the arm without fear of clashing.
Enjoy the robot! And if you would like more code and new parts visit the homepage for the project