Micro Servo Robot Arm

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About: I ain't no physicist, but I knows what matters. :p By the way, I'm an Electronic Engineer . Interested in Electronic Hobby's and DIY Projects . I'm Focusing mostly on Simulations of Projects and Further mor...

4 axis robot arm with a small gripper and teach function. (In fact: it is a 3 axis robot)

This robot can follow. This robot can learn. And this robot can repeat endles. And he lost all his memory if the batterys are low. This makes it new all the time he is powered again.

Step 1: Arduino Code and Flow Charts

Step 2: Components

Arduino mini pro 5V/16MHz

4 micro servos (180degrees)

4 22k potentiometer

NmH Battery 4.8V

Wires, Button, Switch

Balsa wood, Metal, Plastic

Zip Ties and Glue

Step 3:

Teach mode: After a reset the robot arm follows the teach in arm while simple mapping the analog inputs every 25ms to the servo motors. Pressing the button stores each servo position in a array

Play mode: Double press the button switch to play mode. The sketch reads the array step by step and and moves the robot arm. For cool loocking movements i added a routine calculates different micro steps for each servo to have moving start and end sync on all axis. Also added a ramp for soft increase/decrease velocity. Shorter travel distances the robot does slow, longer distances with faster speed. Its all about timing so my thoughts in this moment Play Mode version 1.1 The gripper input is used to set the delay (0,1,3,15,60,300 seconds) after a loop is done. The switch (it was left from the project start) pauses the robot 08/2015 i added the same code 1.3 but i try add english comments 10/2015 flowchart for the code and electrical diagram. (make sure you use a pullUp resistor at input 4,6 / change the code for input 4. This should fix the 'slow running problem' (often happend)

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7 Discussions

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AdnanM21

2 years ago

i have low memory problem..please help me. i cannot fix it.

3 replies
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joony786AdnanM21

Reply 2 years ago

i don't get the point , it's working perfect use Mega instead of uno

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danielhhansonjoony786

Reply 21 days ago

Did anyone get the MiniRobot program running. I see you were working on this several years ago. I've seen several different posts of this code, but I can't get it to run reliably.
Any help would be greatly appreciated. I've been working on this for weeks.
Daniel Hanson PhD PE
danielhhanson@gmail.com 27 Dec 18

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Vardhanbatavia007AdnanM21

Reply 1 year ago

the problem shall be with your computer. I too was having same problem in my last project. I tried to upload it using my smartphone with " arduino droid". Then it worked......

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joony786AcidicMelon

Reply 1 year ago

i made it too but i didn't shear my program .!

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VipulS38

1 year ago

code is working?? or not?? plz give ur num.. email id - vipulsolanki15@gmail.com