Roboticarm V2 - fully 3D printable

Description

Roboticarm V2 ============ Arm Lifts 285 Grams Https://Youtu.Be/9O9Il31Ai6K Default Replay Program Https://Youtu.Be/V6Uo8Pfwzvu Normal Mode: Https://Www.Youtube.Com/Watch?V=Ab2Ljiylmbm&Feature=Youtu.Be Program (Teach) Mode: Https://Www.Youtube.Com/Watch?V=Gghi06Hx_8K&Feature=Youtu.Be Replay Mode: Https://Www.Youtube.Com/Watch?V=Hqdndcde1Yy&Feature=Youtu.Be The Very First Run: Https://Www.Youtube.Com/Watch?V=6Rr9Rfmor78 After A Total Of 250 Hours For The Prototype Version1 And This Production Version 2 I Proudly Present This (As Of Now Really) Complete 3D Printable Roboticarm. This Arm Has Like In V1 Also 6 Axis It Can Be Fully Controlled By The Controlkeyboard. Now The Keyboard Has A 16X2 Lcd Display And A Sdcardreader. The Basecone Is Smaller And The Servocontroller Is Built In The Basecone. It Is Now Easier Constructable Because I Separated Some Parts. I'Ve Also Improved The Design Of Some Weak Or Poor Parts. The Armmoves Are Fully Programmable Easily By Keyboard. The Arm Has 3 Modes: Normal, Programming, Replay. - In Normal Mode, The Arm Can Be Manually Controlled. - In Programming (Teaching) Mode, The Single Positions Of The Arm Can Be Saved On Microsdcard (Fat32) By Pressing The Mem Button. There Is Also A Delete Button For Deleting The Saved File. - In Replay Mode The Positions Which Are Saved On The Sdcard Will Be Replayed In An Endless Loop. It Also Has An Powerregulation (6V Or 7.2V) So You Can Use A Cheap 12V5A Power Supply. The Keyboard Is Soldered On A Inch/10 Grid Prototyping Stripboard (94X53Mm). For Servos Just Use The Cheap Towerpro Mg995 Or 996R Servos (Or Even A Better One ;). The Screwholes Are Built For M3 Bolts And Nuts. Have Fun! //Technical Info: Roboarmcontrol V2 – V1.0 2015_08_03 Copyright 2015 By Juergen Lessner For Arduino Mega Pinout Pca9685 -> Arduino Mega Vcc -> +5V Gnd -> Gnd Sda -> Sda (D20) Scl -> Scl (D21) Control Keyboard-> Arduino Mega 1 -> D30 2 -> D32 3 -> D34 4 -> D31 5 -> D33 6 -> D35 7 -> D37 8 -> D39 9 -> D41 10 -> +5V 11 -> Rx1_D19 (Int 4) 11 -> 10K Ohms Resistor -> Gnd 12 -> D36 12 -> 10K Ohms Resistor -> Gnd 13 -> D38 13 -> 10K Ohms Resistor -> Gnd 14 -> Rst 15 -> Gnd Lcd1602 -> Arduino Mega Vcc -> +5V Gnd -> Gnd Sda -> Sda_D20 Scl -> Scl_D21 Sd Card Reader -> Arduino Mega Gnd -> Gnd Vcc -> 5V Miso -> D50 Mosi -> D51 Sck -> D52 Cs -> D53 Other Switches Arduino Mega D19 = Speed Switch D36 = Programming Mode D38 = Program Replay Mode Rst = Reset Arduino Pca9685 -> Servos 0 = Servo0 / Baseturn Axis 1 = Servos1 - (2 Servos) / Shoulder Axis 2 = Servo2 / Ellbow Axis 3 = Servo3 / Wrist Bow Axis 4 = Servo4 / Wrist Spin Axis 5 = Servo5 / Fingers Open - Close _____________________________ Bill Of Materials: 1 X 3D Printed Parts 7 X Towerpro Mg995 Servos (Or Equal) 8 X Ballbearing 623Zz 1 X Arduino Atmega 2560 Or Equal 1 X 16X2 Lcd Display With I2C Interface 1 X Micro Sd Card Reader For Arduino 1 X Pca9685 Pwm Driver 18 X Mini Momentary Switch6X6X10Mm / 2,54Mm 1 X Switch On/On 1 X Switch On/Off/On 1 X Pcb Prototype Board 94X53Mm / 2,54Mm Dupont Crimp Connector Male And Female Different Dupont Cases 3 X Resistor 10 Kohm 1/4 Watt 3 X Mj2955 (2N2955) Incl. Heatsink (40X30X1Mm) 1 X Lm338 Incl. Heatsink (40X30X1Mm) 3 X Resistor 0,1 Ohm 5W 1 X Resistor 6 Ohm 2 Watt 1 X Resistor 270 Ohm 1/4 Watt 1 X Resistor 1300 Ohm 1/4 Watt 2 X Ceramic Capacitor 100Nf 1 X Electrolytic Capacitor 16V 1Uf 1 X Pcb Prototype Board 50X70Mm 2,54Mm Lochabstand 0.5M² Stranded Copper Wire In Different Colors Mehrere Meter M3 Bolts (10Mm - 40Mm) M3 Nuts, 1M M3 Treaded Rod Cable Zip Ties Description Textfile For Teaching Mode: File Rep.Txt And File Mem.Txt Mem.Txt Is The File Where The Teaching Posisions Will Be Stored. If Mem.Txt Doesnt Exist The Default File Rep.Txt Will Be Used. The Fileformat Is Txt/Plain With Crlf On Eol No Crlf On Eof ! Dataline Construction Info S000111222333444555 = Position From Servonr 0 To 5 1 Position In Line = Speed S = Speed (0 = Fast, 1 = Low) Position In Line 2-4 Postion For Servo 0 Position In Line 5 - 7 Postion For Servo 1 Position In Line 8 - 10 Postion For Servo 2 Position In Line 11 - 13 Postion For Servo 3 Position In Line 14 - 18 Postion For Servo 4 Position In Line 19 - 21 Postion For Servo 5 Demo Data Rep.Txt 0470275292270115300 0470275472378115180 0470350449423115180 0470375449423115180 1470430449423115180 1470430449423115300 0470360449369455300 1470397449369455300 0470397449369455180 0470341449423115180 1470423449423115180 1470423449423115300 1470260305423115300 0470260305279115300 0115260305279115300 0115260305279115300 1115241385351115300 1115425385351115300 1115425385351115180 0115425385423115180 0115425385423455180 1115425329423455180 0115425329263455180 1115425329263455300 1115320289275455300 0115277289275455300 1115277289275115300 1115277129203115300 1115177129203115300 0115177129203115180 1115177129203115180 0115275129203115180 1115275250203115180 0115275292203115180 0115275292270115300 0470275292270115300 Acknowledgments: Special Thanks To Alfred For The Great Voltageregulator Curcuit. Also Thanks To Hans An Franz For Their Permanetly Supporting.

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