5DOF RoboArm
298 views · Published 18 June 2018 · 3:32 · Indexed 24 October 2026
Channel: caslor · 2018 · Science & Technology
This is a 5DOF robotic arm i designed and Tested My Goal was not the Speed but to build something cheap and strong enough to lift things The Arm is controled from a Ramps1.4 shield and Arduino Mega 2560 I am using Repetier firmware to send the G code commands for the movement plan . 12864 LCD Display Controller With Adapter For 1 RAMPS 1.4 i designed a planetary gearbox in Blender and i printed them to my custom 3D Printers (Cartesian & Delta ) I used 5 28BYj-48 stepper motors (converted to Bipolar) because are very cheap and had lot of them in stock they are not fast so the arm has slow motion but i if i would like to use other type of stepper motors (like Nema 17) then the speed would be faster For the base rotation i used just a simply big straight gear and a smaller one in 28Byj motor to drive it for the clamp i used a 9g hobby servo The clamp design was made from an other one and was available for download in thingiverse I am designing a new clamp as this one is not what i need i have to mention that the idea to use a Planetary gearbox was from an other person that has available files for download in thingiverse but for some reason i couldnt print them right so i decide to redesign everything for my needs So i use a nice site for the gear plans : OTVINTA http://www.otvinta.com/instantinternal.html They have also some useful tutorials in Youtube , how to design gears in Blender https://youtu.be/c-SPCvXHys0 Finally for the Base and the beams i used wood (it is cheap strong and light weight) and way faster to cut, drill it than wait to 3D print plastic in big dimensions Also with the use of wood (20x20mm) as a beam between the Gearboxes i can always make the arm longer with just replacing the beams Subscribe and Share --- Mention --- clamp : yisparyan https://www.thingiverse.com/thing:715525 Planetary Box (inspired by) : Gear_Down_For_What https://www.thingiverse.com/thing:2277105 https://www.thingiverse.com/thing:2153317 ---------------------------------------------------------------------------------------------- Programs i used for this project and Video Linux Lubuntu 16.04 (oparation system ) Blender 2.76 ( 3D design ) Repetier Host 1.6.2 (with Curaengine slicer) - (for slice 3D files for printing them) Repetier Firmware 1.0.2 (RoboArm firmware) Kdenlive 17.04.3 (video editor) GIMP 2.8.16 All the above are Free for use !! which is amazing but also consider to donate them in order to continue the effort to make them better
