All in motion

A project log for 3D Printable Robot Arm

A printable robot arm, a little bigger than the usual hobby servo once.

Andreas HoelldorferAndreas Hoelldorfer 10/19/2015 at 07:245 Comments

All six axis of my robot arm are moving now:

I build a case for the electronics, nothing special but it will serve the puropse.


Adrian arbide wrote 10/22/2015 at 19:46 point

Thanks Roel, that is what i was looking for. 

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Alex Rich wrote 10/22/2015 at 01:03 point

Andreas, this thing is badass!  Congrats, I love how the little wrist failed to lift that weight but corrected itself when the weight hit the table.  It almost looks human.  What can be done to make the motion smoother?  It seems a bit jumpy, might be because of manual control and not smoothly accelerating.  I keep thinking it would be great to use these for manufacturing operations where you want to repeatably apply a bead of glue or lay down a form-in-place gasket, but the hand would have to be a little more steady at the end.

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Andreas Hoelldorfer wrote 10/24/2015 at 23:38 point

Thanks. The shaky movement is caused mainly by my software I'm sending only position values to to controller so it always stops and accelerate. I'm sure if we drive it like the 3D-printers in a predefined path it will run very smoothly. 

A lot of shaking was the to slack belt. I fixed it, it's now much better. And the other problem is the base "bearing" it has so much play and the hole arm shakes. I post a video about this soon. 

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Adrian arbide wrote 10/21/2015 at 23:40 point

Thanks for all your work on this project, it is Fantastic. I had a few questions. i am starting a build to make a version of this arm and was looking for parts. did you make the encoder yourself, cant find one like that online. also, what motor drivers are you using? Are all the news versions on this site for the 3D printed parts. i need to start printing ASAP. Thanks

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Roel Offermans wrote 10/22/2015 at 13:56 point

I believe Andreas uses encoders from, the AS5045B he mentions in one of his older posts (on the orange arm). Schematics can be found in the parts list here

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