Robotic Arm

Overview

A robotic arm was designed using Turnigy Digital Servos. It is an articulated robotic arm that has 5DOF. An articulated robotic arm is an arm with rotary joints that uses actuators.

The code is written in Node.js using the Johny Five Library and Arduino.

Demo

1. YouTube Link Demo 1
2. YouTube Link Demo 2

Specifications

• Lengths

  • Base to Elbow(L1) : 25cm
  • Elbow to Wrist(L2) : 32cm
  • Wrist to Actuator(L3): 10cm

• Weigts:

  • Base to Elbow: 102gm
  • Elbow to Wrist: 85gm
  • Wrist to Actuator: 26gm
  • Servo: 70gm each

• Degrees of Freedom: 5

• Hardware Interfacing: USB

• Base Spin: 114 °

• Shoulder Pitch: 114 °

• Elbow Pitch: 114 °

• Wrist Pitch: 114 °

Components Used

1. Arduino Mega
2. Turnigy Servos
3. Leap Motion Sensor
4. Power Supply for servos
5. Gripper
6. Metal Rods for bodywork

Intallations

leapjs:

npm install leapjs

johnny-five (macOS only):

npm install -g node-gyp

Installation steps for all operating systems

Usage

1. For Leap Motion control, first upload and run the Firmata Code on the arduino board. Execute the LeapInverseKinematics.js file from terminal. Please install leapjs and johnny-five library for NodeJS before executing.
2. For shape drawing tasks, upload the Shapes_Sketch.ino and comment out the shape which is not needed.

Model

References

1. Johnny Five Introduction
2. Inverse Kinematics