Arduino Robotic Arm (OPEN SOURCE) + Python control APP + EXTRAS

3D printed frame Robotic arm. It uses 3x NEMA17 motors and common hardware elements from the 3D printer World

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Description

This 3D printed Pybot SCARA Robotic arm has been created using common and affordable elements from the 3D printed World (NEMA 17 motors, Linear bearings, timing belts...)

The idea was to create a reliable, fast, modifiable and accurate Robotic Arm for everyone who wants to have a very cool desktop robot and/or anyone willing to learn robotics and mechanics. The control APP has been created with Python

Robotic Arm Stages of project development

:https://www.jjrobots.com/robotic-arm-scara-project-updates/

We have written a detailed assembly guide, explained the Mechanical design and code on its landing webpage : https://www.jjrobots.com/scara-robotic-arm-by-jjrobots/

The control code has been written in PYTHON and it has been thoroughly explained and commented for easy understanding.

The control APP for MacOS and Windows is freely available and 100% OPEN. User guide here

All the links to code, assembly guides...etc can be found here: https://www.jjrobots.com/scara-robotic-arm-by-jjrobots/

Repeatability test video

https://www.jjrobots.com/wp-content/uploads/2019/09/Robotic-ARM-repeatability-Test.mp4

NEW!:Added Xbox/PS4 controller. Now you can control the pyBot Robotic arm using your PS4/Xbox controller

 

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If you want to save the hassle of getting the different elements from different sources and want them all fast, create your own custom Robotic KIT here (and add what you really need)

https://www.jjrobots.com/product/pybot-robotic-arm/

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All the parts are easy to print but you will need to add SUPPORT to two:
REDUCTION and FOREARM. In the images attached to the gallery you will see the recommended orientation for every element to be printed.
Gently remove the support once printed.

The REDUCTION part is a critical part of the robot. Print is slowly.

Features:

  • Google Blockly controlable
  • Trajectory movement (you can add up to 20.000 trajectory points)
  • Real Time control
  • Leap Motion control
  • Artificial vision control OPENCV (Use your webcam to tell the robot what to do)
  • 100% OPEN SOURCE (Arduino control board and Python control code)
  • Control it via USB or WIFI
  • Smartphone/ Tablet control APP (for iOS and Android devices) Free APPs
  • Control it using a Xbox or PS4 controller

 

Mechanical Specifications:

  • Robot frame total height: 270 mm.
  • Nº of axis: 3 (arm) + 2 (clamp)
  • Working height with the clamp mounted: 145 mm
  • Arm (extended) length: 24 cms
  • Working area: 1190 cm2
  • Horizontal max. speed: 220 mm/s
  • Vertical max speed: 55 mm/s
  • Total Weight: 2120 grams
  • Repeatability (mm): 0.4mm
  • Maximum Payload Capacity (arm extended) = approx. 150 g
  • Range of motion per axis: Arm: ~190° Forearm: ~280°
  • Driving motors: 3x NEMA17 1.8° stepper motor
  • Gripper / Actuator drivers: 2x SG90 /MG90 / MG92R servos

 

Scara Robotic Arm GRIPPER (2 DOF)

 

Direct links

  • Assembly guide: A complete step-by-step guide to create your own Robotic Arm
  • https://www.jjrobots.com/scara-robotic-arm-assembly-guide/
  • Arduino code: The code in charge of controlling the pyBot Robotic Arm. To be uploaded to the DEVIA control board
  • https://www.jjrobots.com/pybot-control-app-code-arduino-code/
  • CONTROL APP Python code
  • https://www.jjrobots.com/pybot-control-app-code-arduino-code/
  • Control APP: User guide, links to Python code 
  • https://www.jjrobots.com/pybot-robotic-arm-control-app-user-guide/
  • pyBot 3D parts models  (.iges file format)
  • https://www.jjrobots.com/wp-content/uploads/2019/09/pybot-Robotic-Arm-3D-MODELS-IGES-V11.zip
  • pyBot Robotic Arm: Mechanical guide  
  • https://www.jjrobots.com/robotic-arm-mechanical-design/
  • pyBot Robotics Arm: Electronics guide 
  • https://www.jjrobots.com/robotic-arm-electronics-how-to-control-the-robotic-arm/
  • Robotic Arm Gripper
  • https://www.jjrobots.com/robotic-arm-gripper-2-degrees-of-freedom/
  • DEVIA Control Board
  • https://www.jjrobots.com/product/devia-robotics-control-board-v1-0/

    Scara Robotic Arm GRIPPER (2 DOF)

     

    Scara Robotic Arm GRIPPER (2 DOF)

     

    Scara Robotic Arm GRIPPER (2 DOF)

     

    Scara Robotic Arm GRIPPER (2 DOF)

     

    Scara Robotic Arm GRIPPER (2 DOF)

     

    Materials and methods

    Print Settings

    Rafts:
    No

    Supports:
    Yes (for just two elements)

    Resolution:
    0.22

    Infill:
    25

    Filament_brand:
    Any good filament

    Filament_material:
    PLA, PLA+, PETG, ABS

    Notes:

    All the parts are easy to print but you will need to add SUPPORT to two:
    REDUCTION and FOREARM. In the images attached to the gallery you will see the recommended orientation for every element to be printed.
    Gently remove the support once printed.

    The REDUCTION part is a critical part of the robot. Print is slowly.

    Features:
    Google Blockly controllable
    Trajectory movement (you can add up to 20.000 trajectory points)
    Real Time control
    Leap Motion control
    Artificial vision control OPENCV (Use your webcam to tell the robot what to do)
    100% OPEN SOURCE (Arduino control board and Python control code)
    Control it via USB or WIFI
    Smartphone/ Tablet control APP (for iOS and Android devices) Free APPs
    Control it using an Xbox or PS4 controller

    Mechanical Specifications:
    Robot frame total height: 270 mm.
    Nº of axis: 3 (arm) + 2 (clamp)
    Working height with the clamp mounted: 145 mm
    Arm (extended) length: 24 cms
    Working area: 1190 cm2
    Horizontal max. speed: 220 mm/s
    Vertical max speed: 55 mm/s
    Total Weight: 2120 grams
    Repeatability (mm): 0.4mm
    Maximum Payload Capacity (arm extended) = approx. 150 g
    Range of motion per axis: Arm: ~190° Forearm: ~280°
    Driving motors: 3x NEMA17 1.8° stepper motor
    Gripper / Actuator drivers: 2x SG90 /MG90 / MG92R servos

    Documents

    Issues

    Issues are used to track todos, bugs or requests. To get started, you could create an issue.

    Comments

    346764d51fb1d13290f07d428e78d495?default=blank&size=40Lowell Brunson added this to the Robots collection ago
    84b4e36cce8f63592d0485aed69e5de9?default=blank&size=40Alexandre Chaussier added this to the DIY collection ago
    809df34f8ad88b5fdeee045b939fc077?default=blank&size=40fitzterra added this to the RoboticArm collection ago
    Mini jjrobots logo facebookjjrobots.com published this design ago