Robotic arm with coding and physics explanation

Presently, the robotic arms are used in various industrial applications like fixing of parts and assembling of the motherboards etc. which seeks the human power power in large scale but are done easily by these robots with certain range of higher accuracy.

DIY Robotic Arm

Here, we are going to see how to make a "DIY Robotic Arm", which is the miniature size of the industrial robotic arm in a completely working state along with the coding written in Arduino software.

Few months back I was trying a simple robotic arm. But practically working is not posible.It's effeciency is only 53%

Now we are going to see a fully completed Robotic arm with 17 stepper motor

Come!! let's see how the robotic arm is working

Buy the components at better price from here👇👇
1. Arduino nano-  Clicl here to buy !
2. a4988 motor drive - Click here to buy!
3. mini stepper motor Click here to buy!
4. 12v power supply - Click here to buy!
5. Servo motor Click here to buy!
6. Bluetooth hc 05 Click here to buy!
7. pcb board Click here to buy!
8. Solidering machine Click here to buy!

you can also buy necessary items with this link
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step 1:

This Robotic arm has the ability to move 5 different direction with help of stepper motor,2 mini stepper motor, servo motor

Step 2:

Stepper motor is fixed at the bottom which helps to moving of robot from x to y axis

Step 3:

We should know the basics of physics before setting up the motor.For example ,if you are tightening the spanner ,you may experience that it is easier to tighten the bolt by place the end than near to the bolt.

Step 4: 

Our motor can able to tolerate 4.2 kg/cm.But in some cases torque of motor > torque of load which results in motor gets heated up because it cannot be able to lift the weight. 

Step 5:

There is solution for such kind of lifting problem 

1)By decreasing the distance of shaft of the motor and point where the force is acting       

2) By using Gears, if the driver gear is smaller than load driven gear , it increases the torque.

if the load driven gear is smaller than driver gear , it increases rpm.

Step 6:

The motor in the middle axis, this motor must have highest amount of  toque. It is fitted with epicyclic gearing ,which increases the torque of motor three times faster.

Step 7:

In the top axis, motor is not  needed, tripper  is placed which helps to move x and y axis

in the extender , where the tripper is placed,it is fitted to mini stepper motor in between servomotor is placed driving it from left to right at an angle 180 degree.

At the bottom of tripper mini stepper motor is placed,for controlling the tripper. if all the motors works properly it works in a great manner

     

Step 8:

Let's see the circuit diagram for controlling this motors

This is stepper motor driver which helps in controlling the motor move forward and backward, it also helps in choosing the no of rotation .MS1,MS2,MS3 determines the microstep resolution which means it helps to increase and decrease the torque.

Step 9

Next we see step pin and direction pin, when we give high input to step pin the motor will rotate. Direction pin is for changing the directon when give high to direction input ,the motor will rotate in one direction,when give low input ,the motor will rotate in another direction.2B,2A,1A,1B these four pins directly connected to motor,VMOT,GND is used for external power supply

IC 2830 is used for contolling mini stepper motor .the heart of this project aurdino is placed inside,blueooth module is connected to aurdino which establish the connection between mobile phone

Step 10:

Upload the program into aurdino .the program link is given  below

Step 11:

By using MIT  App invereter, this app is created for mobile

Step  12:

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If you want to watch the video link is given

https://youtu.be/pdspAg2mtFk

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