6 Degrees of Freedom Robot Arm
6 Degrees of Freedom Robot Arm
Embedded Files
This project was a part of a Microcontrollers & Embedded Microprocessors course. Inspired by surgical robots, my team and I decided to make a 6 DoF robot arm with a gripper end point.
This project was a part of a Microcontrollers & Embedded Microprocessors course. Inspired by surgical robots, my team and I decided to make a 6 DoF robot arm with a gripper end point.
Microcontroller
Microcontroller
Our team decided to use the STM32 microcontroller platform for this project. Here's why:
We already had extensive Arduino experience and wanted to try something new.
STM32 is widely used in industry.
Large number of I/O available.
Fast clock speeds.
Support for camera interface.
The arm has 5 joints and a rotatable wrist controlled by 6 servo motors, as well as a micro servo to control whether the gripper is open or closed. Parts were 3D printed, with the joints utilizing a custom ball bearing design. There was significant iterations of linkage designs regarding length and reinforcement to minimize the required torque and optimize strength to avoid bending.
The arm has 5 joints and a rotatable wrist controlled by 6 servo motors, as well as a micro servo to control whether the gripper is open or closed. Parts were 3D printed, with the joints utilizing a custom ball bearing design. There was significant iterations of linkage designs regarding length and reinforcement to minimize the required torque and optimize strength to avoid bending.
Motion Control
Motion Control
Five potentiometers were used to control the position and state of the arm's end point. Three of the potentiometers controlled position in 3D cartesian coordinates, while the other two controlled the angle and open/close state of the gripper. After reading the potentiometer signals through analog to digital conversion, inverse kinematics were used to determine the required motor positions.
20250407_Arm Test.mp4Check out the video above to see the arm in action!
Check out the video above to see the arm in action!
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