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A multifunctional robotic arm was created for my mechatronics group project. It is made up of mostly 3D printed components and has five degrees of freedom.

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Design

The robotic arm was first designed in SolidWorks. The linkages, claw, and base were additively manufactured. The user interface consists of a LCD screen and a rotary encoder.

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An Arduino Uno was used to program the robot and user interface. The linkages are powered by stepper motors, and the claw is actuated with a servo motor. The arm is capable of autonomous and manual movement.

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Lessons Learned

We learned the importance of gear ratios. A higher gear ratio should have been chosen to reliably lift the heavy linkages. Additionally, cable management was paramount in order to allow the base to rotate. It also helped when troubleshooting problems.

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