DUM-E - a simple robot arm based on the Arduino Uno

1. As you have already digested the plate, you could make connectors for servos on it and make it in the format of an Arduino overlay.
2. The arm is part of the Arduino? I can see that he is standing next to him

Moderated By _lazor_:

Let's not be crap ...

1. You're right, I didn't think of it!

A very nice projector is born, you can even try to control the cnc and instead of a gripper give a marker pen to draw paths or even a mini drill, etc. Plusik.

Maybe a video of the action, because I have some comments, but I would like to support them constructively

This is a poor description for a project that was carried out for a year. You could make more effort.

It's good that this arm is straight because it would work so crookedly; )

piotrva wrote:

1. As you have already digested the plate, you could make connectors for servos on it and make it in the format of an Arduino overlay.
2. The arm is part of the Arduino? I can see that he is standing next to him

2.based on / based on

He wrote well.

@ andrzejek23 The point is that the arm is controlled by an Arduino - the Arduino is not an integral part of the arm. The arm is based on a structure made of plastic and plywood as well as servos.

SylwekK wrote:

Maybe a video of the action, because I have some comments, but I would like to support them constructively

I have uploaded a demo video

piotrva wrote:

@ andrzejek23 The point is that the arm is controlled by an Arduino - the Arduino is not an integral part of the arm. The arm is based on a structure made of plastic and plywood as well as servos.

You're picking on. The arm control system is an integral part of it.

BTW:
Based on plastic construction ...

Moderated By _lazor_:

Let's not be crap ...

I like constructions where something moves and I couldn't pass by indifferently So you put a few words in the movie now ... From what I can see, the work of the arm is based on controlling individual channels with potentiometers. The main disadvantage is, above all, the oscillation of the structure caused by the quite rapid starting / stopping of the servo, as well as the servos themselves due to their construction and operating principle (when they have little brakes - the controller releases). If they were more powerful, the effect would not be so visible. I've been going through this a long time ago, because my first camera arm head was based on servos and I quickly changed the direction of construction.
What can be improved? In this case, adding a ramp option should already stabilize the entire arm a bit. In the case of the current control, it is a few minutes of work and literally a few lines of code per channel more.
As a bonus, I would expand the program with motion memory. It is also not difficult. With my first controller with joystick memory, I was also afraid of problems, and it went simpler with the first shot than it seemed
Good luck!

SylwekK wrote:

What can be improved? In this case, adding a ramp option should already stabilize the entire arm a bit. In the case of the current control, it is a few minutes of work and literally a few lines of code per channel more.

Could you clarify a bit what this ramp is about?

The ramp, i.e. here with the motors, is a smooth acceleration / braking.

Hi.
I can see colleagues that you are up to date with robotics.
I passed my high school diploma in Mathematics almost half a century ago, there was not much of it in college and I lost my practice a bit.
For someone who is up to date, the task will not be very difficult.
It is about determining the functions fx and fy defining the X and Y coordinates of the end of the robot arm shown in the photo from the angles of rotation of the coaxial wheels driven by stepper motors, where the dimensions of the arm elements will be the constant coefficients.
I need to rewrite the grbl program to control this arm.
The dimensions are marked on the drawing. Angles between stationary elements are straight angles.

I will add a few more photos of how this arm works:



In the last photo, the one without the device, you can see which angles I mean as arguments for the Alfa L Alfa U function. They result directly from the rotation of the stepper motors driving the arm.
The lower gear directly drives the aluminum arm (Alfa L) and the upper gear only has a short (Alfa U) plastic arm with an axle for the plastic pusher.

Added after 25 [minutes]:

The problem is solvable. The Chinese made it
[youtube]https://www.youtube.com/watch?v=NTBxLTUPyTU
[/youtube]