5 Axis Robotic Arm

I’ve been researching and looking in depth at robotic arms for a while in how there built and wanted to build one of my own and further my knowledge on mechanical and electronic aspects. The BCN3D Moveo is an open-source 5 DOF robotic arm that can be built. It’s well designed but had some mechanical issues in certain aspects of the arm along with certain electronics used. The robotic arm will use G-code to operate the arm which is a common procedural program that’s used for 3d printers and CNC machining that allows for predefined movements.

Design Changes

- Mechanical improvements for cross-sections of each axis

- Change in stepper drivers that can handle high currents and large stepper motors

- Tolerances changed for mechanical components to be better fitted

- Coverings made for exposed areas to reduce possibilities of debris getting in the mechanical system

- Visuals outer look changed to be more robust allowing for better stability

All parts were remodeled in SolidWorks and test fitted

3D Printing

All components were 3D printed using an FDM 3D printer in which PLA was chosen as the desired material as it had great mechanical properties like tensile strength. Components went through a post finishing process of sanding and painting for a quality look.

Wiring/Electronics

Electronics

- 24-volt power supply is used which is preferred for stepper motors to run smoothly

- DRV8825 drivers are used to driving the stepper motors which can handle high currents and provided a more compact form

- Ramps 1.4 board was modified to handle 24 volts by replacing the poly fuses with automotive fuses

Final Construction

This project ended in the successful completion of a fully working 5 axis robotic arm which entailed a more compact form for electronics by reducing the size down by 47% and a more robust well mechanically improved design that's reliable. Further knowledge was gained on mechanical components, electronics, and having a deeper knowledge of building robotic systems.

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