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

thepawel1211 4197 15
This content has been translated » The original version can be found here
  • DUM-E - a simple robot arm based on the Arduino Uno

    Hello, I present to you a project that I have been working on for the last year. It is a 5-axis manipulator based on the Arduino Uno board. I started the project with the desire to develop my existing skills and learn new things about robotics.

    Mechanics

    The base is made of plywood and two boards fixed with screws. The rest of the arm is made of 3mm thick plexiglass. I also installed three small wheels for stabilization at the base. The servos I used are TowerPro MG946R and Redox S90.

    Electronics

    The robot's brain is an Arduino Uno board with a program written by me. The arm is controlled by a board with 1k potentiometers, which I designed and made myself.

    In the future, I plan to improve the gripper and perhaps add another servo to make it rotate.

    Pictures:



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

    Movie:

    [movie: 8f813b3e5c] https://filmy.elektroda.pl/55_1549409807.mp4 [/ movie: 8f813b3e5c]

    Code:

    Code: c
    Log in, to see the code

    Cool? Ranking DIY
    Can you write similar article? Send message to me and you will get SD card 64GB.
    About Author
    thepawel1211
    Level 9  
    Offline 
    thepawel1211 wrote 5 posts with rating 12, helped 0 times. Been with us since 2013 year.
  • #2
    piotrva
    VIP Meritorious for electroda.pl
    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 :D
    Moderated By _lazor_:

    Let's not be crap ...

  • #3
    thepawel1211
    Level 9  
    1. You're right, I didn't think of it!
  • #4
    korystor
    Level 11  
    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.
  • #5
    SylwekK
    Level 31  
    Maybe a video of the action, because I have some comments, but I would like to support them constructively ;-)
  • #6
    hawryszka
    Level 11  
    This is a poor description for a project that was carried out for a year. You could make more effort.
  • #7
    h3c4
    Level 14  
    It's good that this arm is straight because it would work so crookedly; )
  • #8
    andrzejek23
    Level 19  
    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 :D


    2.based on / based on

    He wrote well.
  • #9
    piotrva
    VIP Meritorious for electroda.pl
    @ 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.
  • #10
    thepawel1211
    Level 9  
    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 :)
  • #11
    andrzejek23
    Level 19  
    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 ...

  • #12
    SylwekK
    Level 31  
    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!
  • #13
    thepawel1211
    Level 9  
    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? :)
  • #14
    SylwekK
    Level 31  
    The ramp, i.e. here with the motors, is a smooth acceleration / braking.
  • #15
    Aimeiz
    Level 15  
    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.


    DUM-E - a simple robot arm based on the Arduino Uno
  • #16
    Aimeiz
    Level 15  
    I will add a few more photos of how this arm works:
    DUM-E - a simple robot arm based on the Arduino Uno
    DUM-E - a simple robot arm based on the Arduino Uno
    DUM-E - a simple robot arm based on the Arduino Uno
    DUM-E - a simple robot arm based on the Arduino Uno
    DUM-E - a simple robot arm based on the Arduino Uno
    DUM-E - a simple robot arm based on the Arduino Uno



    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 :)