Obviously, all the positives and negatives of the motors must be connected together and only the signal must travel individually to the respective Arduino pins Once the construction of the robotic arm is finished, it is time to move on to the electrical connections that require particular attention, especially in the case of motors. Last but not least, the motor of the rotating base is fixed on the fixed base (3D printed) in the appropriate seat with four boltsįor convenience I have mounted the fixed base to a larger wooden board (MDF) to give stability to the structureĪ junction box must be mounted immediately next to the output of the robotic arm cables to house all the electronics inside. The last piece of aluminum at the base is mounted with 5 bolts (but if you want you can also use less) to the invitation printed in 3d on the rotating base To mount the other two motors, the procedure is the same as that connecting the caliper to the motor at the wrist angle, with the only difference that you will have to drill holes in the aluminum to accommodate the screws that will run through the piece of aluminum and the rotating plate of the motor. Once this is done you will have to mount the servo for the rotation of the wrist which has nothing complicated apart from the fact that you have to carve two sides of the aluminum square for a few centimeters in order to leave only two aluminum blades that will support the adapter you need to mount the motor with the ring nut facing the gripper (outside and not to the side)īetween the wrist (as a piece in itself) and the wrist rotation motor I wanted to add another small piece that visually makes the transition from square profile to round profile but it is only a question of aesthetics (so it is optional, if you want you cannot print it)įinally, to connect the wrist piece to the wrist rotation motor you have to print one of the adapters left in the files that screws onto the wrist piece and screws, on the other side, to the rotating bezel of the motor. Once the wrist is composed, you can proceed to screw the gripper to the motor that controls the angle of the wrist. I recommend starting from the end with the assembly of the gripper, which is quite intuitive and simple. Once the caliper is mounted, you will need to mount the SG90 servo in the appropriate space and check that everything moves without friction.Īfter doing this you will have to build the wrist by cutting a small piece of aluminum (a little longer than the width of the servo) and, after having made the notch for the rear part of the motor and the hole for the rotating ring of the motor, you can mount the wrist angle motor with the two adapters I have attached above. Regarding the construction of the robotic arm itself, I don't have much to add to what was said before but let's make a brief summary: The plate of the second motor (wrist rotation) is then screwed to another 3D printed adapter that embraces the aluminum profile (the one more at the end) that holds the last two motors at the end. In addition to this it was necessary to drill a hole of 22mm in diameter (same internal dimension of the aluminum profile) to bring out the motor plate which I screwed to the gripper with four screws.įor the second engine (that of the rotation of the wrist) it was much more complex. In fact, it was necessary to mount the motor in such a way that it was directed towards the outside and not towards one side of the aluminum profile.įor this reason, I designed an adapter that "embraced" only two sides of the aluminum square so that the space of the two removed sides was dedicated to house the motor vertically. I have made these two adapters in Fusion 360 and with the 3D printer. It was enough to screw the motor to the adapters with four bolts and then mount the adapters laterally to the aluminum profiles (with a special template for the holes that I leave you in the files) For the movement of the wrist, the arm needs two motors: one for the angle of the wrist and one for the rotation of the wrist (one that moves it up and down and one that rotates it clockwise or counterclockwise).įor the seat of the first engine, it was necessary to create a seat in the square aluminum tube to make the rear part of the engine come out. The motor (like all motors except for the base and wrist rotation) is mounted with two adapters.
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