Affordable DIY Robot Arm: A Deep Dive into 3D Printing and Servo Motors -- Episode-628

cstanton — Fri, 10 Nov 2023 23:42:49 GMT

Current Revision posted to Documents by cstanton on 11/10/2023 11:42:49 PM

To learn about robotics, Milos was looking for an affordable 5 Degrees Of Freedom (5DOF) robotic arm. Although affordable arms do exist, they are usually too small and only offer a few degrees of freedom. Robotic arms that satisfy all requirements, including build quality and range of motion, usually cost in the range of a few hundred dollars.

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Jump to Downloads & Bonus Content | Jump to Discussions

Watch the Video:

www.youtube.com/watch

Design & Assembly

Milos decided to 3D print the necessary parts. 3D printers are widely available now, and 3D printing parts, such as a large bearing, can be more cost-effective than finding one from a retailer. Large bearings can get expensive fast, especially if you’re looking for an unusual size. For the ball bearings, the idea was to use 3D printing for the inner and outer rings, and use common glass marbles for the balls.

For powering the robot’s joints, Milos decided to use small servo motors. They are easy to find and easy to control using any microcontroller because all they require is a PWM signal. Milos chose small DFRobot servo motors because they are designed to protect the motor if the current draw is too high for too long. The motor also has a clutch that allows it to start skipping if the load is too great, protecting the inner components. Simple rotary potentiometers were used for position feedback. Potentiometers work well with a microcontroller and offer the additional benefit of taking a bit of strain off of the servo motor shaft if they are paired for each of the modules (illustrated in the following diagram).

All of the robot arm's parts were 3D printed (all of the files are available free to download).

Electronics

Electronics for this initial build ended up being rather simple. Milos chose a Raspberry Pico W for this build, because they are popular, inexpensive, and their small size leaves room for components, such as a wireless control, to be added in the future.

Faulty Circuit

The Pico was required to provide six PWM outputs for each of the six possible servos (the sixth servo would be the gripper servo), as well as six input channels for the six potentiometers. The Pico only has three ADC pins, however, so Milos added a CD4053BE multiplexer to accommodate more I/O.

The circuit is pretty simple, however, it didn’t work. Milos returned to the datasheets and found that the microcontroller was running off of less voltage (3.3V) than the minimum voltage that the multiplexer required (3.5V). To fix this, he added a shifter circuit using an optocoupler (4N27), as illustrated in the following diagram.

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

The most important functions left to be implemented are position record and playback, which record the ADC values for all potentiometers, store them, convert the values to angles based on the parameters from the calibration procedure, and then playback those angles at a given speed.

Links and Downloads

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Tags: servo motor, potentiometer, dfrobot, multiplexing, multiplexer, Affordable Robot Arm, e14p_Milos, robotics, raspberry pi pico, 3D Printing, Pulse Width Modulation (PWM), Robotics Enthusiast, Robot Arm Assembly, raspberry pi, 3D Printing in Robotics, DIY Robotics Videos, Potentiometer Feedback, Custom Bearings in Robotics, Position Feedback Robot Arm, robot arm, servo motors, robotics project, DIY Robot Arm, diy electronics, Cheap Robot Arm, Robotics Enthusiast Community, friday_release, Multiplexers for Analog Inputs

Affordable DIY Robot Arm: A Deep Dive into 3D Printing and Servo Motors -- Episode-628

pchan — Fri, 10 Nov 2023 14:42:08 GMT

Revision 11 posted to Documents by pchan on 11/10/2023 2:42:08 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Jump to Downloads & Bonus Content | Jump to Discussions

Watch the Video:

www.youtube.com/watch

Design & Assembly

All of the robot arm's parts were 3D printed (all of the files are available free to download).

Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

Links and Downloads

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Affordable DIY Robot Arm: A Deep Dive into 3D Printing and Servo Motors -- Episode-628

pchan — Fri, 10 Nov 2023 14:42:08 GMT

Revision 12 posted to Documents by pchan on 11/10/2023 2:42:08 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Jump to Downloads & Bonus Content | Jump to Discussions

Watch the Video:

www.youtube.com/watch

Design & Assembly

All of the robot arm's parts were 3D printed (all of the files are available free to download).

Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

Links and Downloads

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Affordable DIY Robot Arm: A Deep Dive into 3D Printing and Servo Motors -- Episode-628

tariq.ahmad — Thu, 09 Nov 2023 17:05:31 GMT

Revision 10 posted to Documents by tariq.ahmad on 11/9/2023 5:05:31 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Jump to Downloads & Bonus Content | Jump to Discussions

Watch the Video:

www.youtube.com/watch

Design & Assembly

All of the robot arm's parts were 3D printed (all of the files are available free to download).

Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

Links and Downloads

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Affordable DIY Robot Arm: A Deep Dive into 3D Printing and Servo Motors -- Episode-628

tariq.ahmad — Thu, 09 Nov 2023 17:00:54 GMT

Revision 9 posted to Documents by tariq.ahmad on 11/9/2023 5:00:54 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Jump to Downloads & Bonus Content | Jump to Discussions

Watch the Video:

www.youtube.com/watch

Design & Assembly

All of the robot arm's parts were 3D printed (all of the files are available free to download).

Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

Links and Downloads

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Affordable DIY Robot Arm: A Deep Dive into 3D Printing and Servo Motors -- Episode-628

cstanton — Thu, 09 Nov 2023 16:13:07 GMT

Revision 8 posted to Documents by cstanton on 11/9/2023 4:13:07 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Jump to Downloads & Bonus Content | Jump to Discussions

Watch the Video:

www.youtube.com/watch

Design & Assembly

All of the robot arm's parts were 3D printed (all of the files are available free to download).

Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

Links and Downloads

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Affordable DIY Robot Arm: A Deep Dive into 3D Printing and Servo Motors -- Episode-628

tariq.ahmad — Wed, 08 Nov 2023 21:25:20 GMT

Revision 7 posted to Documents by tariq.ahmad on 11/8/2023 9:25:20 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Jump to Downloads & Bonus Content | Jump to Discussions

Watch the Video:

www.youtube.com/watch

1. Design & Assembly

All of the robot arm's parts were 3D printed (all of the files are available free to download).

2. Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

3. Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

Links and Downloads

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Affordable DIY Robot Arm: A Deep Dive into 3D Printing and Servo Motors -- Episode-628

kellyhensen — Wed, 08 Nov 2023 21:07:47 GMT

Revision 6 posted to Documents by kellyhensen on 11/8/2023 9:07:47 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Watch the Video:

www.youtube.com/watch

1. Design & Assembly

All of the robot arm's parts were 3D printed (all of the files are available free to download).

2. Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

3. Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

Links and Downloads

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Affordable DIY Robot Arm: A Deep Dive into 3D Printing and Servo Motors -- Episode-628

kellyhensen — Wed, 08 Nov 2023 20:58:29 GMT

Revision 5 posted to Documents by kellyhensen on 11/8/2023 8:58:29 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Watch the Video:

www.youtube.com/watch

1. Design & Assembly

All of the robot arms parts were 3D printed (all of the files are available free to download). If you want to take a detailed look at how to assemble different parts of the robot arm, check the bonus content below.

www.youtube.com/.../v8rHBLzjJ7A

2. Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

3. Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

GitHub repository for the Cheap Robot Arm: https://github.com/MilosRasic98/CheapRobotArm

Bonus Content:

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Making a Cheap DIY Robot Arm -- Episode-628

jordanrjohnson — Wed, 08 Nov 2023 20:06:41 GMT

Revision 4 posted to Documents by jordanrjohnson on 11/8/2023 8:06:41 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Watch the Video:

www.youtube.com/watch

1. Design & Assembly

www.youtube.com/.../v8rHBLzjJ7A

2. Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

3. Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

GitHub repository for the Cheap Robot Arm: https://github.com/MilosRasic98/CheapRobotArm

Bonus Content:

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Tags: servo motor, potentiometer, multiplexing, multiplexer, Affordable Robot Arm, e14p_Milos, robotics, raspberry pi pico, 3D Printing, Pulse Width Modulation (PWM), Robotics Enthusiast, Robot Arm Assembly, raspberry pi, 3D Printing in Robotics, DIY Robotics Videos, Potentiometer Feedback, Custom Bearings in Robotics, Position Feedback Robot Arm, robot arm, servo motors, robotics project, DIY Robot Arm, diy electronics, Cheap Robot Arm, Robotics Enthusiast Community, friday_release, Multiplexers for Analog Inputs

Making a Cheap DIY Robot Arm -- Episode-628

tariq.ahmad — Wed, 08 Nov 2023 20:02:56 GMT

Revision 3 posted to Documents by tariq.ahmad on 11/8/2023 8:02:56 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Watch the Video:

www.youtube.com/watch

1. Design & Assembly

www.youtube.com/.../v8rHBLzjJ7A

2. Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

3. Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

GitHub repository for the Cheap Robot Arm: https://github.com/MilosRasic98/CheapRobotArm

Bonus Content:

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Making a Cheap DIY Robot Arm -- Episode-628

tariq.ahmad — Wed, 08 Nov 2023 19:57:15 GMT

Revision 2 posted to Documents by tariq.ahmad on 11/8/2023 7:57:15 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.

Watch the Video:

www.youtube.com/watch

1. Design & Assembly

www.youtube.com/.../v8rHBLzjJ7A

2. Electronics

Faulty Circuit

Corrected Circuit

Final Schematic

Here is the final schematic:

The pinout for the Pico is as follows:

The final step was to solder everything to a piece of perf board and put it into a box.

3. Software

Software is still a work in progress and will take more time, but for now, some simple commands have been implemented:

Disabling all motors by taking the PWM to 0% duty cycle and switching the relay OFF
Turning ON the relay
Setting an angle on a single joint
Setting an angle on all joints at once
Calibrating the potentiometer readings on the min/max range of the servo motors

GitHub repository for the Cheap Robot Arm: https://github.com/MilosRasic98/CheapRobotArm

Bonus Content:

Github: https://github.com/MilosRasic98/CheapRobotArm
CAD Files and Code
DiPinto Da BRACCIO - Idea & Plan - Blog 1
DiPinto Da BRACCIO - Meet the Stars - Part 1 - Blog 2
Sensor Kit For BRACCIO

Bill of Material:

Product Name	Quantity	Buy Kit
RASPBERRY-PI Raspberry Pi Pico W Board, RP2040, 32 bit, ARM Cortex-M0+	1	Buy Now
DFROBOT DFR0473 Relay Module	1	Buy Now
TT ELECTRONICS / BI TECHNOLOGIES P160KNP-0EC15B25K - Potentiometer	5	Buy Now
DFROBOT SER0050 - Small Servo Motor	5	Buy Now
PRO SIGNAL PSG08611	1	Buy Now
PRO SIGNAL PSG01595	1	Buy Now
MULTICOMP PRO MP008930 - PLA filament	1	Buy Now
CD4053BE - Texas Instruments Analog Multiplexer	1	Buy Now
DFROBOT SER0044 - Servo with analog feedback	1	Buy Now

Additional Parts:

M3 screws and nuts

Perfboard

Passive components like resistors, capacitors, wires

150mm Junction Box

element14 presents | About Milos Rasic | Project Videos

Making a Cheap DIY Robot Arm -- Episode-628

tariq.ahmad — Wed, 08 Nov 2023 19:14:23 GMT

Revision 1 posted to Documents by tariq.ahmad on 11/8/2023 7:14:23 PM

In this video, Milos sets out to create a high-quality 5DOF robotic arm that everyone can afford.