Roboticarm V1 - Construction Info by Juergenlessner

Last crawled date: 3 years, 1 month ago

EDIT
I added more pictures for easier assembling
By the way, its a prototype. Thread in the servos can be a little tricky :)
It can lift up over 300 grams!
/EDIT
Youtube Videos with working Arm:https://www.youtube.com/watch?v=nnQkck3u9Owhttps://www.youtube.com/watch?v=Jo6CBHO7F1E
If you want to build this roboticarm, here a little help:
Download the wiring diagram and the keyboard curciut layout as picture from here.
Partlist:
Printed parts (Download the 3D STL Files from here)
7 Pcs TowerPro MG995 Servos
1 Arduino MEGA 2560 Microcontroller
1 PCA9685 Servocontroller
1 Robot Claw
8 Pcs Ballbearing 623 or 623ZZ
1 Power Supply 7.2 Volts 5 Amps
1 Resistor 10k Ohms
19 Pcs micro button switch
Cables in different colors
M3 Screws, Nuts and Bolts in different lenght
Pinout:
======
PCA9685 -> Arduino MEGA
SCL -> A21
SDA -> A20
VCC -> +5V
GND -> GND
Control Keyboard-> Arduino MEGA
1 -> D10
2 -> D9
3 -> D8
4 -> D7
5 -> D6
6 -> D5
7 -> D4
8 -> D3
9 -> D2
10 -> +5V
11 -> A19
11 -> 10k Ohms Resistor -> GND
LCD2004 - Arduino MEGA
VCC -> +5V
GND -> GND
SDA -> A21
SCL -> A20
PCA9685 -> Servos
0 = Servo0 / baseturn axis
1 = Servos1 - (2 Servos) / shoulder axis
2 = Servo2 / ellbow axis
3 = Servo3 / wrist bow axis
4 = Servo4 / wrist spin axis
5 = Servo5 / fingers open - close
Software:
=======
Download the Version 0.3a from here (roboticarmV1.zip).
HAVE FUN!
If you have any questions, maybe you find an answer on my german hompage, or contact me on Dashboard, or just send me a PM
ITS NOT FOR COMMERCIAL USE