MoovUp is a 3D printed robotic arm based on the InMoov project. Mounted on a wooden crate, it has eight degrees of freedom and each finger is equipped with a pressure sensor. The thumb's position has been redesigned to give a grasping function. The arm is driven by an ATMega2560 microcontroler programmed in bare-metal C++. Communication and control are implemented via a UART serial interface.
- shoulder left
- shoulder right
- wrist left
- wrist right
- hand open
- hand close
- hand grab
- thumb open
- thumb close
- index open
- index close
- finger open
| ArduinoMega pin | ATmega 2560 port | timer | kind | usage |
|---|---|---|---|---|
| A1 | PF1 | -- | sensor | thumb |
| A2 | PF2 | -- | sensor | index |
| A3 | PF3 | -- | sensor | middle |
| A4 | PF4 | -- | sensor | ring |
| A5 | PF5 | -- | sensor | pinky |
| D2 | PE4 | OC3B | motor | thumb |
| D3 | PE5 | OC3C | motor | index |
| D5 | PE3 | OC3A | motor | middle |
| D6 | PH3 | OC4A | motor | ring |
| D7 | PH4 | OC4B | motor | pinky |
| D8 | PH5 | OC4C | motor | wrist |
| D11 | PB5 | OC1A | motor | elbow |
| D12 | PB6 | OC1B | motor | shoulder |