RoboArm

Arduino 2 axis robotic arm with a robotic claw gripper. Can be controlled with your PC, potentiometers and even with your phone.

Jan 31, 2020

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robots

Components and supplies

Arduino UNO

3d printed robotic arm

Robotic Claw Gripper

Servo motor Mg995

Tools and machines

3D Printer (generic)

Multitool, Screwdriver

Apps and platforms

Arduino IDE

MIT App Inventor 2

SketchUp

Project description

Code

Code PC.ino

arduino

This can be used as a calibration code. Use this to control your robotic arm with your pc through serial. With this you can figure out what values the servos can take. !This code is compatible with the model I made. For other robotics arm you might need to change void rotate2.

1/*Open the serial monitor to control the robotic arm.
2 * This is a   calibration code
3 * Code made by Alex Dumitrache
4*/
5#include <Servo.h>
6Servo   servo1;
7Servo servo2;
8Servo servoclaw;
9//Servo servobase; //uncomment this   if you use a 3 axis robot
10
11int pos1=90,pos2=90,pos3=90,pos4=90;
12int values[3];
13int   cnt=0;
14
15void setup() {
16  Serial.begin(9600);
17  Serial.println("Enter   2 values:");
18  Serial.println("the first value for the type of servo:");
19   Serial.println("1 - the first servo; 2 - the second servo; 3 - both 2 axis servos;   4 - clawservo; 5 - baseservo");
20  Serial.println("the second value for the   postion of the servo/s - between 0 and 180");
21
22  
23  //Enter the PMW pin   for each of the servo
24  servo1.attach(9);
25  servo2.attach(10);
26  servoclaw.attach(11);
27   //servobase.attach(pin);//uncomment this if you use a 3 axis robot
28}
29
30void   loop() {
31  if(Serial.available()) {
32    while(Serial.available() == 0); //if   the Arduino receive the values through serial
33    int val = Serial.parseInt();
34     if (val!=0) {
35      cnt++;//Arduino expects 2 values so we put a counter
36       values[cnt]=val;//it stores the values he received
37      if (cnt==2) {//run   the subprogram
38        if(values[1]==1) {
39          rotate1(pos1,values[2],servo1);
40           pos1=values[2];
41        }
42        if(values[1]==2) {
43          rotate1(pos2,values[2],servo2);
44           pos2=values[2];
45        }
46        if(values[1]==3) {
47          rotate1(pos1,pos2,servo2);
48           pos1=pos2;
49          rotate2(pos2,values[2],servo1,servo2);
50          pos1=values[2];
51           pos2=values[2];
52        }
53        if(values[1]==4) {
54          rotate1(pos3,values[2],servoclaw);
55           pos3=values[2];
56        }
57        /*if(values[1]==5) {   //uncomment   this if you use a 3 axis robot
58          rotate1(pos4,values[2],servobase);
59           pos4=values[2];
60        }
61        */
62        cnt=0;//waiting   for new values
63      }
64    }
65  }
66}
67
68void rotate1(int i, int f,   Servo myservo) {
69  if(i<=f) {
70    for(int pos=i;pos<=f;pos++) {
71      myservo.write(pos);
72       delay(15);
73    }
74  }
75  else {
76    for(int pos=i;pos>=f;pos--)   {
77      myservo.write(pos);
78      delay(15);
79    }
80  }
81}
82
83void   rotate2(int i, int f, Servo myservo1, Servo myservo2) {
84  if(i<=f) {
85    for(int   pos=i;pos<=f;pos++) {
86      myservo1.write(pos);
87      myservo2.write(180-pos);
88       delay(15);
89    }
90  }
91  else {
92    for(int pos=i;pos>=f;pos--)   {
93      myservo1.write(pos);
94      myservo2.write(180-pos);
95      delay(15);
96     }
97  }
98}
99

/*Open the serial monitor to control the robotic arm.
 * This is a   calibration code
 * Code made by Alex Dumitrache
*/
#include <Servo.h>
Servo   servo1;
Servo servo2;
Servo servoclaw;
//Servo servobase; //uncomment this   if you use a 3 axis robot

int pos1=90,pos2=90,pos3=90,pos4=90;
int values[3];
int   cnt=0;

void setup() {
  Serial.begin(9600);
  Serial.println("Enter   2 values:");
  Serial.println("the first value for the type of servo:");
   Serial.println("1 - the first servo; 2 - the second servo; 3 - both 2 axis servos;   4 - clawservo; 5 - baseservo");
  Serial.println("the second value for the   postion of the servo/s - between 0 and 180");

  
  //Enter the PMW pin   for each of the servo
  servo1.attach(9);
  servo2.attach(10);
  servoclaw.attach(11);
   //servobase.attach(pin);//uncomment this if you use a 3 axis robot
}

void   loop() {
  if(Serial.available()) {
    while(Serial.available() == 0); //if   the Arduino receive the values through serial
    int val = Serial.parseInt();
     if (val!=0) {
      cnt++;//Arduino expects 2 values so we put a counter
       values[cnt]=val;//it stores the values he received
      if (cnt==2) {//run   the subprogram
        if(values[1]==1) {
          rotate1(pos1,values[2],servo1);
           pos1=values[2];
        }
        if(values[1]==2) {
          rotate1(pos2,values[2],servo2);
           pos2=values[2];
        }
        if(values[1]==3) {
          rotate1(pos1,pos2,servo2);
           pos1=pos2;
          rotate2(pos2,values[2],servo1,servo2);
          pos1=values[2];
           pos2=values[2];
        }
        if(values[1]==4) {
          rotate1(pos3,values[2],servoclaw);
           pos3=values[2];
        }
        /*if(values[1]==5) {   //uncomment   this if you use a 3 axis robot
          rotate1(pos4,values[2],servobase);
           pos4=values[2];
        }
        */
        cnt=0;//waiting   for new values
      }
    }
  }
}

void rotate1(int i, int f,   Servo myservo) {
  if(i<=f) {
    for(int pos=i;pos<=f;pos++) {
      myservo.write(pos);
       delay(15);
    }
  }
  else {
    for(int pos=i;pos>=f;pos--)   {
      myservo.write(pos);
      delay(15);
    }
  }
}

void   rotate2(int i, int f, Servo myservo1, Servo myservo2) {
  if(i<=f) {
    for(int   pos=i;pos<=f;pos++) {
      myservo1.write(pos);
      myservo2.write(180-pos);
       delay(15);
    }
  }
  else {
    for(int pos=i;pos>=f;pos--)   {
      myservo1.write(pos);
      myservo2.write(180-pos);
      delay(15);
     }
  }
}

Code potentiometers

arduino

Use this code of you are controlling your robotic arm with potentiometers. !This code is compatible with any robotic arm.

1/*
2 Controlling a servo position using a potentiometer (variable resistor)
3   by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
4
5 modified   on 8 Nov 2013
6 by Scott Fitzgerald
7 http://www.arduino.cc/en/Tutorial/Knob
8
9   modified by Alex Dumitrache
10*/
11
12//If you use a 4th servo make sure to uncomment   the lines that include it.
13
14#include <Servo.h>
15
16Servo myservo1;  //   create servo object to control a servo
17Servo myservo2;
18Servo myservo3;
19//Servo   myservo4;
20
21int potpin1 = 0;  // analog pin used to connect the potentiometer
22int   potpin2 = 1; 
23int potpin3 = 2; 
24//int potpin4 = 3; 
25int val1;  // variable   to read the value from the analog pin
26int val2; 
27int val3; 
28//int val4;   
29
30void setup() {
31  myservo1.attach(9);  // attaches the servo on pin 9   to the servo object
32  myservo2.attach(10);
33  myservo3.attach(11);
34  //myservo4.attach(6);
35}
36
37void   loop() {
38  val1 = analogRead(potpin1); // reads the value of the potentiometer   (value between 0 and 1023)  
39  val1 = map(val1, 0, 1023, 0, 180); // scale it   to use it with the servo (value between 0 and 180)
40  myservo1.write(val1);  //   sets the servo position according to the scaled value
41  delay(15); // waits for   the servo to get there
42  
43  val2 = analogRead(potpin2);
44  val2 = map(val2,   0, 1023, 0, 180);
45  myservo2.write(val2);
46  delay(15);
47  
48  val3 = analogRead(potpin3);
49   val3 = map(val3, 0, 1023, 0, 180);
50  myservo3.write(val3);
51  delay(15);
52   
53  //val4 = analogRead(potpin4);
54  //val4 = map(val4, 0, 1023, 0, 180);
55   //myservo4.write(val4);
56  //delay(15);
57}
58

/*
 Controlling a servo position using a potentiometer (variable resistor)
   by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>

 modified   on 8 Nov 2013
 by Scott Fitzgerald
 http://www.arduino.cc/en/Tutorial/Knob

   modified by Alex Dumitrache
*/

//If you use a 4th servo make sure to uncomment   the lines that include it.

#include <Servo.h>

Servo myservo1;  //   create servo object to control a servo
Servo myservo2;
Servo myservo3;
//Servo   myservo4;

int potpin1 = 0;  // analog pin used to connect the potentiometer
int   potpin2 = 1; 
int potpin3 = 2; 
//int potpin4 = 3; 
int val1;  // variable   to read the value from the analog pin
int val2; 
int val3; 
//int val4;   

void setup() {
  myservo1.attach(9);  // attaches the servo on pin 9   to the servo object
  myservo2.attach(10);
  myservo3.attach(11);
  //myservo4.attach(6);
}

void   loop() {
  val1 = analogRead(potpin1); // reads the value of the potentiometer   (value between 0 and 1023)  
  val1 = map(val1, 0, 1023, 0, 180); // scale it   to use it with the servo (value between 0 and 180)
  myservo1.write(val1);  //   sets the servo position according to the scaled value
  delay(15); // waits for   the servo to get there
  
  val2 = analogRead(potpin2);
  val2 = map(val2,   0, 1023, 0, 180);
  myservo2.write(val2);
  delay(15);
  
  val3 = analogRead(potpin3);
   val3 = map(val3, 0, 1023, 0, 180);
  myservo3.write(val3);
  delay(15);
   
  //val4 = analogRead(potpin4);
  //val4 = map(val4, 0, 1023, 0, 180);
   //myservo4.write(val4);
  //delay(15);
}

Code PC.ino

arduino

1/*Open the serial monitor to control the robotic arm.
2 * This is a  calibration code
3 * Code made by Alex Dumitrache
4*/
5#include <Servo.h>
6Servo  servo1;
7Servo servo2;
8Servo servoclaw;
9//Servo servobase; //uncomment this  if you use a 3 axis robot
10
11int pos1=90,pos2=90,pos3=90,pos4=90;
12int values[3];
13int  cnt=0;
14
15void setup() {
16  Serial.begin(9600);
17  Serial.println("Enter  2 values:");
18  Serial.println("the first value for the type of servo:");
19  Serial.println("1 - the first servo; 2 - the second servo; 3 - both 2 axis servos;  4 - clawservo; 5 - baseservo");
20  Serial.println("the second value for the  postion of the servo/s - between 0 and 180");
21
22  
23  //Enter the PMW pin  for each of the servo
24  servo1.attach(9);
25  servo2.attach(10);
26  servoclaw.attach(11);
27  //servobase.attach(pin);//uncomment this if you use a 3 axis robot
28}
29
30void  loop() {
31  if(Serial.available()) {
32    while(Serial.available() == 0); //if  the Arduino receive the values through serial
33    int val = Serial.parseInt();
34    if (val!=0) {
35      cnt++;//Arduino expects 2 values so we put a counter
36      values[cnt]=val;//it stores the values he received
37      if (cnt==2) {//run  the subprogram
38        if(values[1]==1) {
39          rotate1(pos1,values[2],servo1);
40          pos1=values[2];
41        }
42        if(values[1]==2) {
43          rotate1(pos2,values[2],servo2);
44          pos2=values[2];
45        }
46        if(values[1]==3) {
47          rotate1(pos1,pos2,servo2);
48          pos1=pos2;
49          rotate2(pos2,values[2],servo1,servo2);
50          pos1=values[2];
51          pos2=values[2];
52        }
53        if(values[1]==4) {
54          rotate1(pos3,values[2],servoclaw);
55          pos3=values[2];
56        }
57        /*if(values[1]==5) {   //uncomment  this if you use a 3 axis robot
58          rotate1(pos4,values[2],servobase);
59          pos4=values[2];
60        }
61        */
62        cnt=0;//waiting  for new values
63      }
64    }
65  }
66}
67
68void rotate1(int i, int f,  Servo myservo) {
69  if(i<=f) {
70    for(int pos=i;pos<=f;pos++) {
71      myservo.write(pos);
72      delay(15);
73    }
74  }
75  else {
76    for(int pos=i;pos>=f;pos--)  {
77      myservo.write(pos);
78      delay(15);
79    }
80  }
81}
82
83void  rotate2(int i, int f, Servo myservo1, Servo myservo2) {
84  if(i<=f) {
85    for(int  pos=i;pos<=f;pos++) {
86      myservo1.write(pos);
87      myservo2.write(180-pos);
88      delay(15);
89    }
90  }
91  else {
92    for(int pos=i;pos>=f;pos--)  {
93      myservo1.write(pos);
94      myservo2.write(180-pos);
95      delay(15);
96    }
97  }
98}
99

/*Open the serial monitor to control the robotic arm.
 * This is a  calibration code
 * Code made by Alex Dumitrache
*/
#include <Servo.h>
Servo  servo1;
Servo servo2;
Servo servoclaw;
//Servo servobase; //uncomment this  if you use a 3 axis robot

int pos1=90,pos2=90,pos3=90,pos4=90;
int values[3];
int  cnt=0;

void setup() {
  Serial.begin(9600);
  Serial.println("Enter  2 values:");
  Serial.println("the first value for the type of servo:");
  Serial.println("1 - the first servo; 2 - the second servo; 3 - both 2 axis servos;  4 - clawservo; 5 - baseservo");
  Serial.println("the second value for the  postion of the servo/s - between 0 and 180");

  
  //Enter the PMW pin  for each of the servo
  servo1.attach(9);
  servo2.attach(10);
  servoclaw.attach(11);
  //servobase.attach(pin);//uncomment this if you use a 3 axis robot
}

void  loop() {
  if(Serial.available()) {
    while(Serial.available() == 0); //if  the Arduino receive the values through serial
    int val = Serial.parseInt();
    if (val!=0) {
      cnt++;//Arduino expects 2 values so we put a counter
      values[cnt]=val;//it stores the values he received
      if (cnt==2) {//run  the subprogram
        if(values[1]==1) {
          rotate1(pos1,values[2],servo1);
          pos1=values[2];
        }
        if(values[1]==2) {
          rotate1(pos2,values[2],servo2);
          pos2=values[2];
        }
        if(values[1]==3) {
          rotate1(pos1,pos2,servo2);
          pos1=pos2;
          rotate2(pos2,values[2],servo1,servo2);
          pos1=values[2];
          pos2=values[2];
        }
        if(values[1]==4) {
          rotate1(pos3,values[2],servoclaw);
          pos3=values[2];
        }
        /*if(values[1]==5) {   //uncomment  this if you use a 3 axis robot
          rotate1(pos4,values[2],servobase);
          pos4=values[2];
        }
        */
        cnt=0;//waiting  for new values
      }
    }
  }
}

void rotate1(int i, int f,  Servo myservo) {
  if(i<=f) {
    for(int pos=i;pos<=f;pos++) {
      myservo.write(pos);
      delay(15);
    }
  }
  else {
    for(int pos=i;pos>=f;pos--)  {
      myservo.write(pos);
      delay(15);
    }
  }
}

void  rotate2(int i, int f, Servo myservo1, Servo myservo2) {
  if(i<=f) {
    for(int  pos=i;pos<=f;pos++) {
      myservo1.write(pos);
      myservo2.write(180-pos);
      delay(15);
    }
  }
  else {
    for(int pos=i;pos>=f;pos--)  {
      myservo1.write(pos);
      myservo2.write(180-pos);
      delay(15);
    }
  }
}

Code potentiometers

arduino

Use this code of you are controlling your robotic arm with potentiometers. !This code is compatible with any robotic arm.

1/*
2 Controlling a servo position using a potentiometer (variable resistor)
3  by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
4
5 modified  on 8 Nov 2013
6 by Scott Fitzgerald
7 http://www.arduino.cc/en/Tutorial/Knob
8
9  modified by Alex Dumitrache
10*/
11
12//If you use a 4th servo make sure to uncomment  the lines that include it.
13
14#include <Servo.h>
15
16Servo myservo1;  //  create servo object to control a servo
17Servo myservo2;
18Servo myservo3;
19//Servo  myservo4;
20
21int potpin1 = 0;  // analog pin used to connect the potentiometer
22int  potpin2 = 1; 
23int potpin3 = 2; 
24//int potpin4 = 3; 
25int val1;  // variable  to read the value from the analog pin
26int val2; 
27int val3; 
28//int val4;  
29
30void setup() {
31  myservo1.attach(9);  // attaches the servo on pin 9  to the servo object
32  myservo2.attach(10);
33  myservo3.attach(11);
34  //myservo4.attach(6);
35}
36
37void  loop() {
38  val1 = analogRead(potpin1); // reads the value of the potentiometer  (value between 0 and 1023)  
39  val1 = map(val1, 0, 1023, 0, 180); // scale it  to use it with the servo (value between 0 and 180)
40  myservo1.write(val1);  //  sets the servo position according to the scaled value
41  delay(15); // waits for  the servo to get there
42  
43  val2 = analogRead(potpin2);
44  val2 = map(val2,  0, 1023, 0, 180);
45  myservo2.write(val2);
46  delay(15);
47  
48  val3 = analogRead(potpin3);
49  val3 = map(val3, 0, 1023, 0, 180);
50  myservo3.write(val3);
51  delay(15);
52  
53  //val4 = analogRead(potpin4);
54  //val4 = map(val4, 0, 1023, 0, 180);
55  //myservo4.write(val4);
56  //delay(15);
57}
58

/*
 Controlling a servo position using a potentiometer (variable resistor)
  by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>

 modified  on 8 Nov 2013
 by Scott Fitzgerald
 http://www.arduino.cc/en/Tutorial/Knob

  modified by Alex Dumitrache
*/

//If you use a 4th servo make sure to uncomment  the lines that include it.

#include <Servo.h>

Servo myservo1;  //  create servo object to control a servo
Servo myservo2;
Servo myservo3;
//Servo  myservo4;

int potpin1 = 0;  // analog pin used to connect the potentiometer
int  potpin2 = 1; 
int potpin3 = 2; 
//int potpin4 = 3; 
int val1;  // variable  to read the value from the analog pin
int val2; 
int val3; 
//int val4;  

void setup() {
  myservo1.attach(9);  // attaches the servo on pin 9  to the servo object
  myservo2.attach(10);
  myservo3.attach(11);
  //myservo4.attach(6);
}

void  loop() {
  val1 = analogRead(potpin1); // reads the value of the potentiometer  (value between 0 and 1023)  
  val1 = map(val1, 0, 1023, 0, 180); // scale it  to use it with the servo (value between 0 and 180)
  myservo1.write(val1);  //  sets the servo position according to the scaled value
  delay(15); // waits for  the servo to get there
  
  val2 = analogRead(potpin2);
  val2 = map(val2,  0, 1023, 0, 180);
  myservo2.write(val2);
  delay(15);
  
  val3 = analogRead(potpin3);
  val3 = map(val3, 0, 1023, 0, 180);
  myservo3.write(val3);
  delay(15);
  
  //val4 = analogRead(potpin4);
  //val4 = map(val4, 0, 1023, 0, 180);
  //myservo4.write(val4);
  //delay(15);
}

Downloadable files

Circuit design for PC

This is the circuit design if you wish to control your robotic arm with your pc through serial.

Circuit design for PC

Circuit design with potentiometers

This is the circuit design if you wish to control your robotic arm with potentiometers.

Circuit design with potentiometers

This is the circuit design if you wish to control your robotic arm with potentiometers.

Circuit design with potentiometers

Circuit design for PC

This is the circuit design if you wish to control your robotic arm with your pc through serial.

Circuit design for PC

Documentation

2 axis robotic arm STL

You can find its parts in the zip attachment.

2 axis robotic arm STL

3 axis robotic arm STL PARTS

This model has not been tested yet. The parts might not connect.

3 axis robotic arm STL PARTS

3 axis robotic arm STL

3 axis robotic arm STL PARTS

This model has not been tested yet. The parts might not connect.

3 axis robotic arm STL PARTS

2 axis robotic arm STL

You can find its parts in the zip attachment.

2 axis robotic arm STL

2 axis robotic arm STL PARTS

These are the STL parts that need to be 3d printed in order to build your 2 axis robotic arm.

2 axis robotic arm STL PARTS

2 axis robotic arm

You can open it with SketchUp. This model has been tested.

2 axis robotic arm

3 axis robotic arm STL

2 axis robotic arm STL PARTS

These are the STL parts that need to be 3d printed in order to build your 2 axis robotic arm.

2 axis robotic arm STL PARTS

3 axis robotic arm

This model has not been tested yet. There is the posibility that the model whould be too heavy for the base servo. You can open it with Sketchup.

3 axis robotic arm

2 axis robotic arm

You can open it with SketchUp. This model has been tested.

2 axis robotic arm

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