3D Printed Robotic Arm #zincirikırma
Merhabalar, bu hafta teknik bir yazı yazmak istemedim. Bunda tatilin son haftasında olmamın bir etkisi var sanırım. Bu etkiyle teknik olmayan sosyal bir yazı da yazmak istemedim. Bu nedenle önceden yazmış olduğum ingilizce yazılarımdan birini paylaşacağım. Sizlere iyi okumalar :)
Robotic Arm Mechanism
After all of this the last project in internship was robotic arm. We did this project with other internship students. We want high sensitive movement. For this claim, we have searched open source robotic arm projects. Dobot, BCN3D MOVEO, Zortrax are some of them. After that we have decided Zortrax. We have planned that we are going to manufacture 2 robotic arms that are going to fasten with table. One of them will placed leftside and another one is will placed rightside like human arms. We thought that it can be used for fabrication, cooking, placing some materials etc. After all searches, we have compromised on Zortrax Robotic Arm. We have downloaded STL files and after we have started the print all mechanism. Some part’s printing photos are below. Totally, 22 parts will be printed. The part that is in the left photo took 36 hours to print. Almost all parts took very long time. Because of this, when I finished my internship, the mechanic parts was still printing.
Robotic Arm Electronics
To get more precise robotic arm, we have used stepper motors for each axis. However, in the Robotic Arm Assembly Manual, Arduino Mega+Rams1.4 is used with Marlin firmware, we have not used it because we wanted to make our Arduino Shield PCB Design and write Arduino Code.
PCB Design of Robotic Arm and Android App
The last task of my internship was designing Robotic Arm PCB. I used EAGLE CAD. I was familiar with EAGLE CAD. Because of this, I did not take too much time to design schematic of circuit. We used 3xA4988 Pololu Stepper Driver, 3xNema17 and HC06 Bluetooth 2.0 Module. Bluetooth used for control using by Android Phone.
Thanks to MIT App Inventor, I have prepared Android Application helps to connect Robotic Arm. MIT App Inventor helps to develop an application without writing JAVA code. It uses code blocks. People who is familiar about algorithm can develop an application.
User Interface of Robotic Arm
Robotic Arm Mechanism
After all of this the last project in internship was robotic arm. We did this project with other internship students. We want high sensitive movement. For this claim, we have searched open source robotic arm projects. Dobot, BCN3D MOVEO, Zortrax are some of them. After that we have decided Zortrax. We have planned that we are going to manufacture 2 robotic arms that are going to fasten with table. One of them will placed leftside and another one is will placed rightside like human arms. We thought that it can be used for fabrication, cooking, placing some materials etc. After all searches, we have compromised on Zortrax Robotic Arm. We have downloaded STL files and after we have started the print all mechanism. Some part’s printing photos are below. Totally, 22 parts will be printed. The part that is in the left photo took 36 hours to print. Almost all parts took very long time. Because of this, when I finished my internship, the mechanic parts was still printing.
Robotic Arm Electronics
To get more precise robotic arm, we have used stepper motors for each axis. However, in the Robotic Arm Assembly Manual, Arduino Mega+Rams1.4 is used with Marlin firmware, we have not used it because we wanted to make our Arduino Shield PCB Design and write Arduino Code.
PCB Design of Robotic Arm and Android App
The last task of my internship was designing Robotic Arm PCB. I used EAGLE CAD. I was familiar with EAGLE CAD. Because of this, I did not take too much time to design schematic of circuit. We used 3xA4988 Pololu Stepper Driver, 3xNema17 and HC06 Bluetooth 2.0 Module. Bluetooth used for control using by Android Phone.
Thanks to MIT App Inventor, I have prepared Android Application helps to connect Robotic Arm. MIT App Inventor helps to develop an application without writing JAVA code. It uses code blocks. People who is familiar about algorithm can develop an application.
User Interface of Robotic Arm
I have added 9 button to different movement modes. In the Arduino code, I can change the modes. 3 Slider used for movement each axis separately. 2 button is used for opening/closing grasper.
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