The third motor was glued to a 6cm piece of plastic which was attached to the second motor and exactly like other motors, this motor’s coupler was also made from Ballpoint. The second motor was glued with the 4 Cm piece of plastic attached to the base plate. The second lid had a hole to keep the coupler in place which was made from an old ballpoint. The first lid had a hole to keep the motor in place and was glued together.
The base motor was supported by two lids ( recovered from old storage containers) Push Button 2 -à Grab -à Will move the motor to 180 degrees.Push Button 1 -à Release -à Will move the motor to 0 degree.For the gripper motor I used two pushbuttons for two functions Servo Motor -> For the griper of the armĪnd three potentiometers were used to control the positions of our motors.Stepper Motor 2 -> The second joint after the base.Stepper Motor 1 -> At the base of our arm to give it rotation.Our robotic arm has three stepper motors at 3 axes.
#Arduino creations code#
To make the stepper motor work, we need to energize its coil alternatively and if we design a circuit then our working code should work according to something like this.Īnyways, his was just for explanation, we will be using a library that eliminates this mess by handling it at the backend. This motor has five wires at the output and if we look at its internal wire diagram we can see that four wires of color, Blue, Pink, Yellow, and Orange are for Four coils and the fifth wire is for +5volts. This motor does not provide High Torque as I mentioned earlier I made this just to show the working of the robotic arm and for some basic payload. The 64 here tells us that it takes 64 steps to complete the one rotation and every step angle will be 5.625 degrees. This motor has a stride angle of 5.625/64 degrees. They can have 4 or more than 4 coils but basically 4 coils in unipolar arrangement and each coil rated with 5 volts. Stepper motors are commonly used in our daily used materials like they are in CD-ROMS, in AC cooling units, turntables, and so many other things, I was not able to take pictures of my build because I made it in hurry so for the sake of documenting my project and visualizing the exact original model of my robotic arm I made 3d model using TinkerCad.Īlright, that was my story and now let's start. Servo motor was too easy to work with while that big stepper motor was expensive so I found 28BYJ-48 Stepper motor which is obviously a stepper motor and complex and was almost equal to the servo motor with 90g torque in terms of price. I searched a lot and everywhere I found Nema stepper motors and servo motor.Īnd everybody has done this project with them.
(Frankly, I have nothing good, not even basic tools). Well, I won that because I already was familiar with such rules and I have a history of making things with what I have. The most important rule was to keep our project cost as much as low as we can while making it work. Well, I’m a student of Biomedical Engineering Technology and I was given with end-of-semester project and we had few rules to follow. Robotic arm, much more similar to human arm, is mechanical arm which is programmable it can itself be a sum of total mechanism or a part of more complex mechanism. If you are here then you already are familiar with robotic hand but let me cover it in two lines:
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