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Robotic Arm

by alexaguiro, published

Robotic Arm by alexaguiro Aug 21, 2012

Description

Robotic Arm created with a 3D printer by Alejandro Aguilar Romero. It consists of several modules connected with servos Futaba S3003.

You can see the arm working in the following videos:

Comments:

1- I customized BasePesas.stl to use 2 weights I had, to make it heavy enough not to fall every time the arm moved. If you can't find anything similar to the weights, you'll just have to adjust this part in order to make 1 servo fit and hold the arm properly.

2- I only use 1 servo for each module, leaving the second one empty just to let the whole part rotate. At the moment, I don't think there's need to use 2 servos for each module and I decided to remove it because I'm not sure enough about the overheat of both servos if they try to reach the same position at the same time. In any case, it should be fine if you want to have 2 servos per module.

3- I used glue to make the gripper to servo safer (MunecaPuente to BasePinza). For the rest of the arm, I used ordinary screws. These could be printed as well.

4- I've already printed and assembled the whole project, but I'm still testing its functionality. Photos will be uploaded soon.

Recent Comments

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For the parts that are oriented vertically, do you expect us to print them that way? That hardly seems like the best way to do it. Or do you expect us to rotate them 90 degrees so it can lay flat on the bed?
The arm is ready!
remember that it says "Work in Progress" at the top of the page. this is not finished yet. I tried to assemble this in solidworks and noticed that the wrist to hand connection is not complete and as far as i can tell the claw mechanism quite done yet. other than those things it went together quite well. i can't wait for an update.

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Instructions

The easiest way to compile this on Openscad and see how to build each part is to load the file BrazoRobotico.scad, which allows to rotate each module independently and see the overall appearence. Other than that, you can see each module loading the following files:

  • For the base: ResultadoFinalBase.scad
  • For the first module: ResultadoFinalAntebrazo.scad
  • For the second module: ResultadoFinalBrazo.scad
  • For the third module: ResultadoFinalMuneca.scad
  • For the gripper: ResultadoFinalPinza.scad

You will need the following:

BASE: 1 BasePesas.stl
1st module: 1 BaseGiratoria.stl 2nd module: 2 Antebrazo.stl ; 1 PuenteAntebrazo.stl ; 3rd module: 2 brazo.stl ; 1 PuenteBrazo.stl ; 4th module: 1 MunecaPuente.stl ; 1 MunecaServo.stl ; Gripper: 2 PinzaEngranaje.stl ; 4 PinzaBarraGiro.stl ; 2 PinzaAgarre.stl ; 1 PinzaBase.stl ;

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For the parts that are oriented vertically, do you expect us to print them that way? That hardly seems like the best way to do it. Or do you expect us to rotate them 90 degrees so it can lay flat on the bed?
The arm is ready!
some description of build up would be very welcome
remember that it says "Work in Progress" at the top of the page. this is not finished yet. I tried to assemble this in solidworks and noticed that the wrist to hand connection is not complete and as far as i can tell the claw mechanism quite done yet. other than those things it went together quite well. i can't wait for an update.
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