[MOC] 6 Axes Robotic Arm

[camellia]

 

6 Axes Robotic Arm is a Serial Robot Arm.

 

 

Serial robot arm is designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. It has a large workspace with respect to the size of the robot and the floor space it occupies. However, as Serial robot arm is an open kinematic structure, it has the low stiffness. And its errors are accumulated and amplified from link to link. It also needs a perfect counterbalance design to carry and move the large weight of most of the actuators.

 

1. Yellow: this servo motor is the first axes. It rotates from -180 degree to +180 degree in the horizonal plane.

 

2. Green: this motor is the second axes. It rotates from -45 degree to +30 degree in the vertical plane to make the robot arm move forward or backward.

 

3. Blue: this motor is the third axes. It rotates from -15 degree to +30 degree in the vertical plane to make the robot arm move upward or downward.

 

4. Red: this servo motor is the fourth axes. It rotates from 0 degree to 360 degree to make the robot arm spin.

 

5. Orange: this servo motor is the fifth axes. It rotates from -90 degree to +90 degree in the vertical plane to swing the robot wrist.

 

6. Purple: this servo motor is the sixth axes. It rotates from 0 degree to 360 degree to make the robot wrist spin.

 

Counterbalance

There are four ways of counterbalance: 1) Counterweight, 2) Springs, 3) Balanced links and 4) Pneumatic cylinder.

A gyroscope can be used to sense the tile of the robot or droid, the controller then predict trends of unbalance, and adjust counterbalance system. 

 

ARM Controller 

Camellia Café ARM Controller controls 8 Servo Motors or DC Motors.

 

 

Just enjoy it!

 

Camellia Café

http://www.camellia.xin

Edited August 21, 2018 by camellia

[RohanBeckett]

Very nicely built - seems to move smoothly!

But it's almost a shame you didn't put a gripper arm at the end - I would have liked to see it pick up something and move it around!

[jono rocky]

Looks and works just like the real thing. would also love to see it pick something up or say put a panel on a Lego car. 

[TimberBrick]

I especially appreciated the counterbalance ideas!