Robotic Arm
Project Overview
A compact, low-cost robotic arm designed from scratch around a 100 g fully extended payload requirement, using 3D-printed structural components, geared servo joints, and control electronics. The arm was design completely in SOLIDWORKS with the body printed out of PLA plastic on a BAMBULABs A1 3D printer.
Engineering Focus
The arm was designed for compact linkage geometry, controlled joint movement, and the practical constraints of low-cost servo motors. Due to the higher torque demand on the low-cost servos, 2 to 1 gear reductions were added to the shoulder and elbow joints. This gear reduction doubles the effective torque and fidelity of the servo. The tradeoff is a smaller range of motion and lower speeds. 4mm steel rods were used for the pivot points.
Build & Testing
This project went through many prototypes to ensure the parts fit well and are easily reproduceable within tolerances of a standard 3D printer. My goal for the design was to make it more visually dynamic than many standard robotic arms. Loft bases were used to make complex geometry for the linkages. The final cost for this robotic arm build was $89, with the most expensive components being the microcontroller, power supply, and shoulder servo.
Next Development: Neural Control
The full design, control code, and electronics have been completed and finalized. The next step I want to take on this project is allowing it to be controlled by the recently scanned and open source brain of a fruit fly. I plan on implementing a camera onto the arm to allow visual feedback for the neural network to react to. The simulation of the fruit fly brain will be run locally on a computer. Allowing the digital brain of a fruit fly to interact with the physical world is an interesting concept and an exciting next step for this project.