Three Degree of Freedom Robotic Arm (Complete)

Three Degree of Freedom Robotic Arm

General Information:

   For my robotics class we learned about the joint movements and degrees of freedom, the lab portion of this class had a project.

Objective:

    The objective of this project was to design a robotic arm with at least 3 degrees of freedom. The professor recommended using revolute joints over prismatic and spherical due to how much more simpler the design process would be since we already had micro servo motors to provide rotational movement.

Complexity of the Project:

    Since the objective was to provide three degrees of freedom I needed to design a robot that could rotate in the x-y-z axis. I settled for a modular design where I can just stick and attach the motors. I 3D printed the parts and assembled them, and needed to connect each motor to a microcontroller, which I used an Arduino. I wrote code in C++ to rotate the motors to specific positions, which took a bunch of trial and error 

What I learned from this project:

• Creating an assembly of parts rather than one part
• The stepper motor wire connections
• The importance of electronic cable management

Sample Pictures/Videos: