Sylvie 2021 Robot Arm

Robot arm for Sylvie 2021.


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Robot arm for Sylvie 2021. Uses similar concept to the Inmoov robot hand, but makes use of microservos installed in the palm of the hand.

Only the wrist gears were borrowed from Inmoov. Rest was designed from scratch.

The gearboxes for elbow, elbow z-axis and shoulder will come in a separate file.

To-do list:
- Add X axis servo to the wrist, remove the X axis servo from the arm.
- Create cover with housing for PCA9685 and LM2596 buck converter
- Replace fully 3d printed needle bearings with 4.5mm steel bb ball bearings
- Make space and housing for 6x8 PCB at the biceps
- Write inverse kinematics solver code in 3D
- Replace Arduino Nano's with STM32F103

Materials and methods




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C1bd9f416253002ab080c8efce4d9ed6?default=blank&size=40Tom Murphy added this to the sylvie collection ago
0ba5052790757f008e7b2bf09feed795?default=blank&size=40Nelsen Caspersen added this to the Prints collection ago
Mini sylvie selfieDenise Jaimes published this design ago