This is the basic design of the lower base extension where the Raspberry Pi will be housed. Here you can see a little better how the gears work. Everything except the finger pads were printed in PLA those where printed in a flexible filament so they would hopefully have more of a rubbery grip to them. Here is the printed and assembled new gripper. This picture shows with the top cover removed so you can see how the gears work inside to open and close the grippers fingers. (Fun Fact – This gripper was designed to replicate the original Armatron gripper so I though it only fitting to incorporate it into this arm too.) This is a parallel designed gripper that I designed for one of my Rov’s but I modified the design to work with a servo just like the original one. The original gripper looked a little limiting with such small finger so I’m not going to use this one. I couldn’t find the required 606zz bearing for the base so I just designed my own and used BB’s for the Balls. I’m working on a lower base extension for the Pi to be housed in so I needed it to be able to reach at least an inch lower. The gripper will actually be able to extend below the table top now. This picture shows the extended range of movements I accomplished by modifying those three parts. This should allow me to manipulate things that are closer to the base. I also opened up the front of the arm to allow the Trial Front Link to rotate more and I changed the angle on the rear of the top on the arm just so it prints better.Ī small section of the Trial Front Link was removed too to allow it a fuller range of motion. I enlarged the pivot area in the link for the main arm so it would be able to rotate more before hitting the arm. The biggest issue I found is with the triangle link. These are the three parts that needed modifying. The limits of movement of the arm keep the gripper from reaching the table top so I wouldn’t be able to pick up small items with the way it is.Ĭarlo is gracious enough to share all of his files on Onshape though so modifying the design is pretty easy. I went with a red and black color scheme.Īfter mocking up the arm for the first time I ran into some issue (for me anyway) with the design. It took a full day of printing but I got all the parts printed for the arm. I’m in the process of printing the parts now and I ordered the new servos today so I’m excited to give this one a try. It uses better/larger servos so it looks much more promising. I found this 3D printed robotic arm on Thingiverse designed by Carlo Franciscone from Italy. I haven’t given up on the idea though it’s just time to try something I tad bit better as far as the arm goes. I didn’t expect much for the 18 bucks and while it was kinda of fun to build and worth the try I don’t think I’d recommend buying one of these… overall the are pretty much crap and you wouldn’t be able to manipulate much with it. Another issue I had is one of the servos was DOA so I couldn’t get fully range of movement out of everything. Using the examples from the test script (and google) I figured out the basic programing to get it to move (somewhat) with the keyboard inputs but it’s pretty jerky and kinda flimsy as you can see in this gif. To control the arm I’m using a Pi3B and an Adafruit 16-Channel PWM / Servo HAT and another separate 5volt 2A wall wart for servo power.Īfter getting everything soldered together on the hat I hooked everything up and ran some test programs that Adafruit supplies. (holes that should have been for tapping were actually thru holes so some extra hardware like longer bolts and nuts were needed.) After putting it together it was on to learning some more Programing. As usually the instructions (found only online) were not the greatest and some of the pieces were mismanufactured. It took probably an hour and a half to put it together with most of that time going to removing the protective covering from the pieces. It took a few weeks to get from across the big pond but a little box finally showed up with a bunch of acrylic parts and a bag of screws. There were a few different versions but I bought the one that came with servos for like $18 shipped. This cheap little robotic arm popped up in ad from Gearbest on Instagram one day so I figured what the hell it might be fun to play with. I figured it was time to get another robotic arm and relive the memory and learn some more Pi programing at the same time. ![]() ![]() When I was a kid I was given a Radio Shack Armatron robotic arm as a gift and I absolutely loved it. ̶R̶a̶s̶p̶b̶e̶r̶r̶y̶ ̶P̶i̶ *Arduino Controlled Robotic Arm
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