Do-it-yourself mechanical arm manipulator. Robotic arm manipulator. Basic nodes for the project of the manipulator

The MeArm robot arm is a pocket version of an industrial arm. MeArm is an easy to assemble and control robot, a mechanical arm. The manipulator has four degrees of freedom, which makes it easy to grab and move various small objects.

This product is presented as an assembly kit. Includes the following parts:

• a set of parts made of transparent acrylic for assembling a mechanical manipulator;
• 4 servos;
• a control board containing an Arduino Pro micro microcontroller and a Nokia 5110 graphic display;
• joystick board containing two two-coordinate analog joysticks;
• USB power cable.

Before assembling a mechanical manipulator, it is necessary to calibrate the servos. For calibration we will use the Arduino controller. Connecting servos to Arduino board(required external source power supply 5-6V 2A).

Servo middle, left, right, claw ; // create 4 Servo objects

Void setup()
{
Serial.begin(9600);
middle.attach(11); // connects a servo to pin 11 for platform rotation
left.attach(10); // connects a servo to pin 10 on left shoulder
right.attach(9); // connects a servo to pin 11 on the right shoulder
claw.attach(6); // attach servo to pin 6 claw (capture)
}

Void loop()
{
// sets the position of the servo by value (in degrees)
middle.write(90);
left.write(90);
right.write(90);
claw.write(25);
delay(300);
}
Using a marker, draw a line through the servomotor housing and spindle. Connect the plastic rocker from the kit to the servo as shown below using the small screw from the servo mounting kit. We will use them in this position when assembling the mechanical part of the MeArm. Be careful not to move the spindle position.


Now you can assemble the mechanical manipulator.
Take the base and attach the legs to its corners. Then we install four 20 mm bolts and screw nuts on them (half of the total length).

Now we attach the center servo with two 8mm bolts to a small plate, and fix the resulting structure to the base with 20mm bolts.

We assemble the left section of the structure.

We assemble the right section of the structure.

Now you need to connect the left and right sections. First I go to the adapter plate

Then the right one, and we get

Connecting the structure to the platform

And we collect the "claw"

We fasten the "claw"

For assembly, you can use the following manual (in English) or the assembly manual for a similar manipulator (in Russian).

Pinout

Now you can start writing Arduino code. To control the manipulator, along with the ability to control the control using a joystick, it would be nice to direct the manipulator to some specific point of Cartesian coordinates (x, y, z). There is a corresponding library that can be downloaded from github - https://github.com/mimeindustries/MeArm/tree/master/Code/Arduino/BobStonesArduinoCode .
Coordinates are measured in mm from the center of rotation. The home position is at (0, 100, 50), i.e. 100 mm forward from the base and 50 mm from the ground.
An example of using the library to set the manipulator at a specific point in Cartesian coordinates:

#include "meArm.h"
#include

Void setup() (
arm.begin(11, 10, 9, 6);
arm.openGripper();
}

void loop() (
// up and left
arm.gotoPoint(-80,100,140);
// capture
arm.closeGripper();
// down, harm and right
arm.gotoPoint(70,200,10);
// release grip
arm.openGripper();
// return w starting point
arm.gotoPoint(0,100,50);
}

meArm class methods:

void begin(int pinBase, int pinShoulder, int pinElbow, int pinGripper) - start meArm, connection pins for middle, left, right, claw servos are indicated. Must be called in setup();
void openGripper() - open capture;
void closeGripper() - capture;
void gotoPoint(float x, float y, float z) - move the manipulator to the position of Cartesian coordinates (x, y, z);
float getX() - current X coordinate;
float getY() - current Y coordinate;
float getZ() - current Z coordinate.

Assembly manual

Of the features of this robot on the Arduino platform, one can note the complexity of its design. Roboarm consists of many levers that allow it to move in all axes, grab and move various things using just 4 servo motors. Having collected with my own hands such a robot, you will definitely be able to surprise your friends and loved ones with the possibilities and pleasant appearance this device! Remember that you can always use our RobotON Studio graphical environment for programming!

If you have any questions or comments, we are always in touch! Create and share your results!

Peculiarities:

To assemble a DIY robotic arm, you will need quite a few components. The main part is occupied by 3D printed parts, there are about 18 of them (it is not necessary to print a slide). If you have downloaded and printed everything you need, then you will need bolts, nuts and electronics:

• 5 bolts M4 20mm, 1 x 40mm and matching anti-rotation nuts
• 6 bolts M3 10mm, 1 x 20mm and matching nuts
• Breadboard with connecting wires or shield
• Arduino Nano
• 4 servo motors SG 90

After assembling the housing, it is IMPORTANT to ensure that it can move freely. If the key components of the Roboarm move with difficulty, the servo motors may not be able to handle the load. When assembling electronics, it must be remembered that it is better to connect the circuit to power after a complete check of the connections. To avoid damage to the SG 90 servos, you do not need to turn the motor itself by hand, if not necessary. In case you need to develop SG 90, you need to smoothly move the motor shaft in different directions.

Characteristics:

• Simple programming due to the presence of a small number of motors, and of the same type
• The presence of dead zones for some servos
• Wide applicability of the robot in daily life
• Interesting engineering work
• The need to use a 3D printer

This article is an introductory guide for beginners to create robotic arms that are programmed with Arduino. The concept is that the robotic arm project will be inexpensive and easy to build. We will assemble a simple prototype with code that can and should be optimized, this will be a great start for you in robotics. The Arduino robot is controlled by a hacked joystick and can be programmed to repeat the sequence of actions you specify. If you are not good at programming, then you can take the project as a training for assembling hardware, upload my code to it and get basic knowledge based on it. Again, the project is quite simple.

On the video - a demo with my robot.

Step 1: List of Materials

We will need:

1. Arduino board. I used Uno, but any of the varieties will do the job equally well.
2. Servos, the 4 cheapest you'll find.
3. Housing materials of your choice. Suitable wood, plastic, metal, cardboard. My project is built from an old notebook.
4. If you don't want to bother with printed circuit board you will need a breadboard. Suitable board small size, look for options with jumpers and a power supply - they are quite cheap.
5. Something for the base of the arm - I used a coffee can, it's not the best option, but it's all I could find in the apartment.
6. Fine thread for the mechanism of the hand and a needle for making holes.
7. Glue and duct tape to hold everything together. There is nothing that can't be held together with duct tape and hot glue.
8. Three 10K resistors. If you do not have resistors, then in the code for such cases there is a workaround, however the best option will buy resistors.

Step 2: How it all works

The attached figure shows the principle of the hand. I will also explain everything in words. Two parts of the hand connected fine thread. The middle of the thread is connected to the hand servo. When the servo pulls the thread, the hand is compressed. I fitted my hand with a spring ballpoint pen, but if you have a more flexible material, you can use it.

Step 3: Modify the joystick

Assuming you've already finished assembling the arm mechanism, I'll move on to the joystick part.

An old joystick was used for the project, but in principle any device with buttons will do. Analog buttons (mushrooms) are used to control servos, as they are essentially just potentiometers. If you don't have a joystick, you can use the three regular potentiometers, but if you're like me, modifying an old joystick with your own hands, then here's what you need to do.

I connected potentiometers to breadboard, each of them has three terminals. One of them needs to be connected to GND, the second to +5V on the Arduino, and the middle one to the input, which we will define later. We won't be using the Y axis on the left potentiometer, so we only need the potentiometer above the joystick.

As for the switches, connect +5V to one end of it, and the wire that goes to the other Arduino input to the other end. My joystick has a +5V line common to all switches. I connected only 2 buttons, but then connected another one, as it became necessary.

It is also important to cut the wires that go to the chip (black circle on the joystick). When you complete all of the above, you can start wiring.

Step 4: Wiring our device

The photo shows the electrical wiring of the device. Potentiometers are levers on a joystick. Elbow is the right Y-Axis, Base is the Right X-Axis, Shoulder is the Left X-Axis. If you want to change the direction of the servos, just swap the +5V and GND wires on the appropriate potentiometer.

Step 5: Downloading the Code

At this point, we need to download the attached code to the computer and then upload it to the Arduino.

Note: if you have uploaded code to Arduino before, then just skip this step - you will not learn anything new.

1. Open the Arduino IDE and paste the code into it
2. In Tools/Board select your board
3. In Tools/Serial Port, select the port your board is connected to. Most likely, the choice will consist of one item.
4. Click the Upload button.

You can change the range of the servos, in the code I left notes on how to do this. Most likely, the code will work without problems, you will only need to change the arm servo parameter. This setting depends on how you set up the thread, so I recommend getting it right.

If you are not using resistors, then you will need to modify the code in the place where I left notes about this.

Files

Step 6: Starting the project

The robot is controlled by movements on the joystick, the hand is compressed and unclenched using the hand button. The video shows how everything works in real life.

Here is a way to program a hand:

1. Open Serial Monitor in Arduino IDE, this will make it easier to follow the process.
2. Save the starting position by clicking Save.
3. Move only one servo at a time, for example, Shoulder up, and hit save.
4. Activate the hand also only at its step, and then save by pressing save. Deactivation is also performed in a separate step followed by pressing save.
5. When you finish the sequence of commands, press the play button, the robot will go to initial position and then it starts to move.
6. If you want to stop it, unplug the cable or press the reset button on the Arduino board.

If you did everything right, the result will be similar to this!

I hope the lesson was useful to you!

Hello!

We talk about the line of collaborative robotic manipulators Universal Robots.

Universal Robots, a Danish company, produces collaborative robotic arms for automating cyclic production processes. In this article, we present their main specifications and consider the areas of application.

What is this?

The company's products are represented by a line of three lightweight industrial manipulation devices with an open kinematic chain:
UR3, UR5, UR10.
All models have 6 degrees of freedom: 3 portable and 3 orientation. Devices from Universal-robots produce only angular movements.
Robotic manipulators are divided into classes, depending on the maximum allowable payload. Other differences are - radius working area, weight and base diameter.
All UR manipulators are equipped with high-accuracy absolute encoders that simplify integration with external devices and equipment. Due to their compact design, UR manipulators do not take up much space and can be installed in work stations or production lines where conventional robots cannot fit. Characteristics:
What are interestingEase of programming

Specially developed and patented programming technology allows non-technical operators to quickly set up and control UR robot arms with intuitive 3D visualization technology. Programming takes place by a series of simple movements of the working body of the manipulator to the required positions, or by pressing the arrows in a special program on the tablet. UR3: UR5: UR10: Quick Setup

It will take less than an hour for an operator performing the initial start-up of the equipment to unpack, install and program the first simple operation. UR3: UR5: UR10: Collaboration and security

UR manipulators are capable of replacing operators performing routine tasks in hazardous and contaminated environments. The control system takes into account external disturbances exerted on the robotic arm during operation. Thanks to this, UR handling systems can be operated without protective barriers, next to the workplaces of personnel. The safety systems of the robots are approved and certified by TÜV - the Union of German Technical Inspectors.
UR3: UR5: UR10: Variety of working bodies

At the end of the UR industrial manipulators there is a standardized fastening for the installation of special working bodies. Additional modules of force-torque sensors or cameras can be installed between the working body and the end link of the manipulator. Application possibilities

UR industrial robotic arms open up the possibility of automating almost all cyclical routine processes. Devices from Universal-Robots have proven themselves in various fields of application.

Translation

Installing UR manipulators in transfer and packaging areas increases accuracy and reduces shrinkage. Most transfer operations can be carried out without supervision. Polishing, buffering, grinding

The built-in sensor system allows you to control the accuracy and uniformity of the applied force on curved and uneven surfaces.

Injection molding

The high precision of repetitive movements makes UR robots suitable for polymer processing and injection molding applications.
Maintenance of CNC machines

The shell protection class provides the possibility of installing manipulation systems for joint work with CNC machines. Packaging and stacking

Traditional automation technologies are cumbersome and expensive. Easily customizable UR robots can work without protective screens next to employees or without them 24 hours a day, I provide high accuracy and productivity. Quality control

The robotic arm with video cameras is suitable for 3D measurements, which is an additional guarantee of product quality. Assembly

A simple tool holder allows the UR robots to be equipped with the appropriate accessories needed to assemble parts made of wood, plastic, metal and other materials. Make-up

The control system allows you to control the developed moment in order to avoid overtightening and ensure the required tension. Bonding and welding

High positioning accuracy of the working body reduces the amount of waste when performing gluing or applying substances.
UR industrial robotic arms can perform Various types welding: arc, spot, ultrasonic and plasma. Total:

Industrial manipulators from Universal Robots are compact, lightweight, easy to learn and use. UR robots are a flexible solution for a wide range of tasks. Manipulators can be programmed for any action inherent in the movements of the human hand, and rotational movements are much better for them. Manipulators are not characterized by fatigue and fear of injury, they do not need breaks and weekends.
Solutions from Universal-robots allow you to automate any routine process, which increases the speed and quality of production.

Discuss the automation of your production processes with the help of Universal-Robots manipulators with an authorized dealer -

One of the main driving forces behind the automation of modern production are industrial robotic arms. Their development and implementation allowed enterprises to reach a new scientific and technical level of task performance, redistribute responsibilities between equipment and people, and increase productivity. We will talk about the types of robotic assistants, their functionality and prices in the article.

Assistant No. 1 - robotic arm

Industry is the foundation of most of the world's economies. The income of not only individual production, but also the state budget depends on the quality of the goods offered, volumes and pricing.

In the light of the active introduction of automated lines and the widespread use of smart technology, the requirements for the supplied products are increasing. Today it is practically impossible to compete without the use of automated lines or industrial robotic arms.

How an industrial robot works

The robotic arm looks like a huge automated "hand" controlled by an electrical control system. There are no pneumatics or hydraulics in the design of the devices, everything is built on electromechanics. This allowed to reduce the cost of robots and increase their durability.

Industrial robots can be 4-axis (used for stacking and packing) and 6-axis (for other types of work). In addition, robots also differ depending on the degree of freedom: from 2 to 6. The higher it is, the more accurately the manipulator recreates the movement of the human hand: rotation, movement, compression / unclenching, tilts, and so on.
The principle of operation of the device depends on its software and equipment, and if at the beginning of its development the main goal was the liberation of workers from heavy and dangerous kind work, today the range of tasks performed has increased significantly.

The use of robotic assistants allows you to cope with several tasks at the same time:

• reduction of working space and release of specialists (their experience and knowledge can be used in another area);
• increase in production volumes;
• improving product quality;
• due to the continuity of the process, the production cycle is shortened.

In Japan, China, the USA, Germany, the enterprises employ a minimum of employees whose duty is only to control the operation of manipulators and the quality of manufactured products. It is worth noting that industrial robotic arm is not only a functional assistant in mechanical engineering or welding. Automated devices are presented in a wide range and are used in metallurgy, light and Food Industry. Depending on the needs of the enterprise, you can choose a manipulator that matches the functional responsibilities and budget.

Types of industrial robotic arms

To date, there are about 30 types of robotic hands: from universal models to highly specialized assistants. Depending on the functions performed, the mechanisms of the manipulators may differ: for example, these may be welding work, cutting, drilling, bending, sorting, stacking and packaging of goods.

Unlike the existing stereotype about the high cost of robotic equipment, every, even a small enterprise, will be able to purchase such a mechanism. Small universal robotic manipulators with a small payload (up to 5 kg) from ABB and FANUC will cost from 2 to 4 thousand dollars.
Despite the compactness of the devices, they are able to increase the speed and quality of processing products. A unique software will be written for each robot, which exactly coordinates the operation of the unit.

Highly specialized models

Welding robots have found their greatest use in mechanical engineering. Due to the fact that the devices are able to weld not only even parts, but also effectively carry out welding work at an angle, in hard-to-reach places install entire automated lines.

A conveyor system is launched, where each robot does its part of the work in a certain time, and then the line begins to move to the next stage. It is rather difficult to organize such a system with people: none of the workers should be absent even for a second, otherwise the entire production process will go astray, or marriage will appear.

Welders
The most common options are welding robots. Their productivity and accuracy is 8 times higher than that of a human. Such models can perform several types of welding: arc or spot (depending on software).

Kuka industrial robotic arms are considered leaders in this field. The cost is from 5 to 300 thousand dollars (depending on the carrying capacity and functions).

Collectors, movers and packers
Heavy and harmful to the human body work has led to the emergence of automated assistants in this industry. Packing robots prepare the goods for shipment in a matter of minutes. The cost of such robots is up to 4 thousand dollars.

Manufacturers ABB, KUKA, and Epson offer lifts for heavy loads over 1 tonne and transport from warehouse to loading point.

Industrial robot manipulator manufacturers

The undisputed leaders in this industry are Japan and Germany. They account for more than 50% of all robotic equipment. Competing with the giants is not easy, however, and in the CIS countries their own manufacturers and start-ups are gradually appearing.

KNN Systems. The Ukrainian company is a partner of the German Kuka and is developing projects for the robotization of welding, milling, plasma cutting and palletizing. Thanks to their software, an industrial robot can be reconfigured to suit the new kind tasks in just one day.

Rozum Robotics (Belarus). The company's specialists have developed an industrial robotic arm PULSE, which is distinguished by its lightness and ease of use. The device is suitable for assembling, packing, gluing and rearranging parts. The price of the robot is around $500.

"ARKODIM-Pro" (Russia). It is engaged in the production of linear robotic manipulators (moving along linear axes) used for plastic injection molding. In addition, ARKODIM robots can work as part of a conveyor system and perform the functions of a welder or packer.