arduino hydraulic arm
I will show you the entire process of building it, starting from designing and 3d printing the robot parts connecting the electronics components and programming the Arduino to developing our own injuried application for controlling the robot arm using the sliders in the app we can manually control the Movement of each servo or axis of the robot arm, also using the Save button, we can record each position or step and then the robot arm can automatically run and repeat these steps. With the same button, we can post the automatic operation as well as reset and delete all steps so that we can record new ones. To begin with, I designed the robot arm using SolidWorks 3d modeling software. The arm has 5 degrees of freedom for the first three axis waist the shoulder and the elbow I use the mg 996, our servos and for the other two axis, the wrist roll and wrist pitch, as well as the gripper I use. The smaller is uniting micro servos. You can find and download this 3d model, as well as the STL files which are used for 3d printing. On my website article. The link is in the description of this video using my nutritive printer reality: CR 10. It really printed all of the parts for the robot arm. Here I would like to give a shout out to Bangor comm for providing me this awesome. 3D printer, the Kree ality CR, 10. Printing quality is amazing for its price point and what’s also great about it.
Is that it comes almost 90 preassembled in order to complete the assembly, we just have to connect the upper and lower parts frames using some bolts and brackets, and then connect the electronic components with the control box using the provided cables before trying it. It is recommended to check whether the roller wheels are tight enough and if they are not, you can simply use the eccentric nuts to tie them up and that’s it after leveling, your 3d printing bed. You are ready to transform your 3d creations into reality. I hid all of the parts for my robot arm ready in just several hours so once again, big thanks to bang good calm and make sure you check out this 3d printer in their store. The link to it is in the description of this video. Ok, so at this point we are ready to assemble the robot arm. I started with the base on which I attached the first servo motor using the screws included in its package. Then, on the output shaft of the servo, I secured a round horn using a bolt and on top of it I placed the upper part and secure it using two screws here again. First goes the servo, then the round horn on to the next part, and then they are secured to each other using the bolt on the output shaft. We cannotice here that at the shoulder axis, it is good idea to include some kind of spring or in my case I used a rubber band to give some help to the server, because this servo carries the whole weight of the rest of the arm as well As the payload in similar way, I continued to assemble the rest of the robot arm.
As for the gripper mechanism, I use four millimeter sports and nuts to assemble it. Finally, I attach the gripper mechanism on to the last servo and the robot arm was completed. The next stage is connecting the electronics. The circuit diagram of this project is actually quite simple. We just need an Arduino board and on 8005 bluetooth module for the communication with the smartphone. The control pins of the six servo motors are connected to six digital pins of the Arduino board for powering the servos. We need 5 volts, but this mass comes from an external power source because the Arduino is not able to handle the amount of current that all of them can draw. The power source must be able to handle at least 2 amps of current. So once we have connected everything together, we can move on to programming nearly know and make the Android application. So first we need to include the software serial library for the serial communication of the Bluetooth module, as well as the server library. Both of these libraries are included with the arduino ide, so we don’t have to install them externally. Then we need to define the six servos, the HCO 5 bluetooth module and some variables for storing the current and the previous positions of the servos, as well as our s for storing the positions or the steps for the automatic mode. In the setup section, we need to initialize the servos and the Bluetooth module and move the robot arm to its initial position.
We do that using the write function which simply moves the servos to any position from 0 to 180 degrees. Next, in the loop section using the Bluetooth available function, we constantly check whether there is any incoming data from the smartphone. If true using the read string function, we read the data as string and store it into the data in variable, depending on the arrived data, we will tell the robot arm what to do. Let’S, take a look at the injury tab now and see what kind of data it is actually sending to the Arduino. I made the app using the MIT App Inventor online application and here’s how it works at the top. We have two buttons for connecting the smartphone to the 8005 bluetooth module. Then, on the left side, we have an image of the robot arm and on the right side we have the six sliders for controlling the servos and one slider for speed control. Each slider give different initial minimum and maximum value that suits the robot arm axis at the bottom of the app we have three buttons safe, run and reset to which we can program the robot arm to run automatically. The results are labeled below which shows the number of steps that we have saved. Nevertheless, for more details how to build applications like this using the MIT App Inventor, you can check my other detail tutorial for it. Ok now let’s see the program or the blocks behind the application.
First, on the left side, we have the blocks for connecting the smartphone to the Bluetooth module. Then we have the sliders blocks for the server position, control in the blocks for programming the robot arm. So if we change the position of the slider using the Bluetooth function same text, we send the text to the Arduino. This text consists of our prefix, which indicates which slider has been changed, as well as the current value of the slider. So therefore, at the arduino using the start, speed function, we check the prefix of each incoming data, and so we know what to do next. For example, if the prefix is s1, we know that we need to move the server number one using the substring function. We get the remaining text or that’s the position value. We convert it into integer and use the value to move the server to that position. Here we can simply call the write function and the server will go to that position, but in that way the server would run at its maximum speed, which is too much for the robot arm. Instead, we need to control the speed of the server, so I use some for loops in order to gradually move the server from the previous to the current position by implementing a delay time between each iteration. By changing the delay time, we can change the speed of the server. The same method is used for driving. All of the axis of the robot arm below them is the Save button.
If we press the Save button, the position of each servo motor is stored in an array with each pressing. The index increases, so the RA is filled step by step. Then, if we press the Run button, we call the run server custom function, which runs the store steps. Let’S take a look at this function, so here we run the store steps over and over again until we press the reset button using the for loop, we run through all positions stored in the RS and at the same time, we check whether we have any incoming Data from the smartphone, this data can be the run or post button which poses the robot and, if clicked again, it continues with the automatic movements. Also, if we change the speed slider position, we will use that value to change the delay time between each iteration. In the for loops below which actually controls the speed of the servo motors in similar way, as explained earlier with this, if statements and for loops, we move the servo to their next position. Finally, if we press the reset button, we will clear all the data from the rs.20 and also reset the index to 0. So we can program the robot arm with new movements and that’s it now we can enjoy and have some fun with the robot arm.
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