Robot Arms to collect dog poop

thingiverse

These robotic arms will integrate into a vehicle that circumnavigates the backyard, expertly collecting dog waste. I'm releasing what I have so far in case it proves useful to others as is. Features: All components are designed using openSCAD, including servos and screws. Forward and inverse kinematics are fully solved and programmed. Various motions are simulated with openSCAD's animate feature, outputting servo angles and pulse widths that can be easily transferred to servo driver code. This design is highly parameterized, allowing most dimensions to be adjusted as needed without requiring recoding. See thingiverse_summary.pdf for additional information and a smooth transition into use.