Arduino Robotic Arm (OPEN SOURCE) + Python control APP + EXTRAS

prusaprinters

<p>This 3D printed Pybot SCARA Robotic arm has been created using common and affordable elements from the 3D printed World (NEMA 17 motors, Linear bearings, timing belts...)</p> <p>The idea was to create a reliable, fast, modifiable and accurate Robotic Arm for everyone who wants to have a very cool desktop robot and/or anyone willing to learn robotics and mechanics. The control APP has been created with Python</p> <h3>Print instructions</h3><p><img alt="" height="300" src="https://www.jjrobots.com/wp-content/uploads/2019/10/pyBot-Robotic-Arm-Thingiverse.png" style="display: block; margin-left: auto; margin-right: auto;" width="643"/></p> <p>This <strong>3D printed Pybot SCARA Robotic arm</strong> has been created using <strong>common</strong> and affordable elements from the <strong>3D printed World</strong> (NEMA 17 motors, Linear bearings, timing belts...)</p> <p>The idea was to create a <strong>reliable</strong>, <strong>fast</strong>, <strong>modifiable </strong>and <strong>accurate</strong> Robotic Arm for everyone who wants to have a very cool desktop robot and/or anyone willing to learn robotics and mechanics. The control APP has been created with Python</p> <p><img alt="" height="100" src="https://www.jjrobots.com/wp-content/uploads/2019/09/python-logo.jpg" style="display: block; margin-left: auto; margin-right: auto;" width="330"/></p> <p><strong>Robotic Arm Stages of </strong> <a href="https://www.jjrobots.com/robotic-arm-scara-project-updates/"><strong>project development</strong></a></p> <p><strong>Robotic Arm </strong> <a href="https://sketchfab.com/3d-models/scara-robotic-arm-by-jjrobots-6db379cb0c064c2e8d0e7fd01469bf44"><strong>3D interactive model</strong></a></p> <p>We have written a <a href="https://www.jjrobots.com/scara-robotic-arm-assembly-guide/"><strong>detailed assembly guide</strong></a>, explained the <strong><a href="https://www.jjrobots.com/robotic-arm-mechanical-design/">Mechanical design</a></strong> and <strong><a href="https://www.jjrobots.com/pybot-control-app-code-arduino-code/">code</a></strong> on its landing webpage : <a href="https://www.jjrobots.com/scara-robotic-arm-by-jjrobots/">https://www.jjrobots.com/scara-robotic-arm-by-jjrobots/</a></p> <p>The control code has been written in <strong>PYTHON</strong> and it has been thoroughly explained and commented for easy understanding.</p> <p>The control APP for MacOS and Windows is freely available and 100% OPEN. <a href="https://www.jjrobots.com/pybot-robotic-arm-control-app-user-guide/"><strong>User guide here</strong></a></p> <p>All the links to code, assembly guides...etc can be found here: <a href="https://www.jjrobots.com/scara-robotic-arm-by-jjrobots/">https://www.jjrobots.com/scara-robotic-arm-by-jjrobots/</a></p> <p><strong>Repeatability test</strong> <a href="https://www.jjrobots.com/wp-content/uploads/2019/09/Robotic-ARM-repeatability-Test.mp4"><strong>video</strong></a></p> <p><strong>NEW!:</strong>Added Xbox/PS4 controller. Now you can control the pyBot Robotic arm using your PS4/Xbox controller</p> <p> </p> <p>************************************************************************************************</p> <p>If you want to <strong>save the hassle</strong> of getting the different elements from different sources and want them all fast, create your own <a href="https://www.jjrobots.com/product/pybot-robotic-arm/"><strong>custom Robotic KIT here</strong></a> (and add what <strong>you really need</strong>)</p> <p>************************************************************************************************</p><p>All the parts are easy to print but you will need to <strong>add SUPPORT to two</strong>:<br/><strong>REDUCTION</strong> and <strong>FOREARM</strong>. In the images attached to the gallery you will see the recommended <strong>orientation</strong> for every element to be printed.<br/><strong>Gently</strong> remove the support once printed.</p> <p>The <strong>REDUCTION</strong> part is a <span style="color: #ff0000;"><strong>critical part of the robot.</strong></span> Print is <strong>slowly</strong>.</p><p><h3>Features:</h3></p> <p><ul></ul></p> <p><li><a href="https://blockly-games.appspot.com/"><strong>Google Blockly</strong></a> controllable</li></p> <p><li><strong>Trajectory</strong> movement (you can add up to 20.000 trajectory points)</li></p> <p><li><strong>Real Time</strong> control</li></p> <p><li><a href="https://www.leapmotion.com/"><strong>Leap Motion</strong></a> control</li></p> <p><li><strong>Artificial vision</strong> control <strong>OPENCV</strong> (Use your webcam to tell the robot what to do)</li></p> <p><li><strong>100% OPEN SOURCE</strong> (Arduino control board and Python control code)</li></p> <p><li>Control it via <strong>USB</strong> or <strong>WIFI</strong></li></p> <p><li><strong>Smartphone</strong>/ <strong>Tablet</strong> control APP (for iOS and Android devices) F<strong>ree A</strong><strong>PPs</strong></li></p> <p><li>Control it <strong>using a Xbox or PS4</strong> controller</li><br/> &lt;/ul&gt;</p> <p><h3> </h3></p> <p><h3>Mechanical Specifications:</h3></p> <p><ul aria-autocomplete="list" aria-label="Write list…" aria-multiline="true" class="block-editor-rich-text__editable editor-rich-text__editable" contenteditable="true" data-is-placeholder-visible="false" role="textbox"></ul></p> <p><li><strong>Robot frame total height</strong>: 270 mm.</li></p> <p><li>Nº of axis: <strong>3</strong> (arm) + <strong>2</strong> (clamp)</li></p> <p><li><strong>Working height with the clamp mounted</strong>: 145 mm</li></p> <p><li><strong>Arm (extended) length</strong>: 24 cms</li></p> <p><li><strong>Working area</strong>: 1190 cm2</li></p> <p><li><strong>Horizontal max. speed</strong>: 220 mm/s</li></p> <p><li><strong>Vertical max speed:</strong> 55 mm/s</li></p> <p><li><strong>Total Weight</strong>: 2120 grams</li></p> <p><li><strong>Repeatability</strong> (mm): 0.4mm</li></p> <p><li>Maximum <strong>Payload</strong> Capacity (arm extended) = approx. 150 g</li></p> <p><li><strong>Range of motion</strong> per axis: Arm: ~190<strong>°</strong> Forearm: ~280<strong>°</strong></li></p> <p><li><strong>Driving</strong> motors: 3x <strong>NEMA17 1.8° stepper motor</strong></li></p> <p><li>Gripper / Actuator <strong>drivers</strong>: 2x SG90 /MG90 / MG92R servos</li><br/> &lt;/ul&gt;</p> <p> </p> <p><img alt="Scara Robotic Arm GRIPPER (2 DOF)" height="250" src="https://www.jjrobots.com/wp-content/uploads/2019/10/SCARA-CLAMP-LOOP.gif" style="display: block; margin-left: auto; margin-right: auto;" width="369"/></p> <p> </p><p><h3>Direct links</h3></p> <p><li><a href="https://www.jjrobots.com/scara-robotic-arm-assembly-guide/"><strong>Assembly guide</strong>: A complete step-by-step guide to create your own Robotic Arm </a></li></p> <p><li><a href="https://www.jjrobots.com/pybot-control-app-code-arduino-code/"><strong>Arduino code:</strong></a> The <a href="https://www.jjrobots.com/pybot-control-app-code-arduino-code/">code</a> in charge of controlling the pyBot Robotic Arm. To be uploaded to the DEVIA control board</li></p> <p><li><a href="https://www.jjrobots.com/pybot-control-app-code-arduino-code/">CONTROL APP <strong>Python</strong> code</a></li></p> <p><li><a href="https://www.jjrobots.com/pybot-robotic-arm-control-app-user-guide/"><strong>Control APP</strong>:<strong> User guide</strong></a>, links to Python code <strong></strong></li></p> <p><li>pyBot <strong>3D parts models</strong>  <a href="https://www.jjrobots.com/wp-content/uploads/2019/09/pybot-Robotic-Arm-3D-MODELS-IGES-V11.zip">(.<strong>iges </strong>file format)</a></li></p> <p><li><a href="https://www.jjrobots.com/robotic-arm-mechanical-design/">pyBot Robotic Arm: <strong>Mechanical guide  </strong></a><strong></strong></li></p> <p><li><a href="https://www.jjrobots.com/robotic-arm-electronics-how-to-control-the-robotic-arm/">pyBot Robotics Arm: <strong>Electronics guide</strong></a> <strong></strong></li></p> <p><li><a href="https://www.jjrobots.com/robotic-arm-gripper-2-degrees-of-freedom/">Robotic Arm <strong>Gripper</strong></a></li></p> <p><li><a href="https://www.jjrobots.com/product/devia-robotics-control-board-v1-0/"><strong>DEVIA</strong> Control Board</a></li><br/> &lt;/ul&gt;</p> <p>************************************************************************************************</p> <p><img alt="Scara Robotic Arm GRIPPER (2 DOF)" height="388" src="https://cdn.thingiverse.com/assets/2d/9a/91/cf/79/xbox_controller_1_1.gif" style="display: block; margin-left: auto; margin-right: auto;" width="640"/></p> <p> </p><p><img alt="Scara Robotic Arm GRIPPER (2 DOF)" height="388" src="https://cdn.thingiverse.com/assets/87/ce/34/f0/af/picking_up_MandM_1_1.gif" style="display: block; margin-left: auto; margin-right: auto;" width="640"/></p> <p> </p> <p><img alt="Scara Robotic Arm GRIPPER (2 DOF)" height="480" src="https://cdn.thingiverse.com/assets/7e/c2/26/55/e0/Gcode-interpreter.gif" style="display: block; margin-left: auto; margin-right: auto;" width="264"/></p> <p> </p><p><img alt="Scara Robotic Arm GRIPPER (2 DOF)" height="388" src="https://cdn.thingiverse.com/assets/72/22/23/6f/8e/Google_Blockly_pyBot_1_1.gif" style="display: block; margin-left: auto; margin-right: auto;" width="640"/></p> <p> </p>