ARb Project

Introduction

ARb is a robotic arm with 4 degrees of freedom. It is designed to be used in a variety of applications, including pick and place, etc. The arm is controlled by a host computer, which communicates with an STM32 to control the servos using UART via USB. The arm is also equipped with a sensor and a gripper, which can be used to pick up and manipulate objects. The arm is designed to be easy to use. The arm also designed to be affordable, with a total cost of less than Rp500.000,00. Although we spent more because of trial and error, and we also bought some parts in a higher price than the market price.

Features

• 4 degrees of freedom
• 1 gripper with integrated sensor
• Automatic find and pick up object
• Easy to use
• Fully programmable

Components

• 3x MG996R Servo
• 2x MG90S Servo
• 1x VL53L0X Sensor
• 1x STM32F401CCU6
• 1x LM2596 DC-DC Step Down
• Custom PCB and Acrylic parts

Tech Stack

• C -> STM32
  • HAL -> Hardware Abstraction Layer
  • VL53L0X -> Sensor
  • USB CDC -> Communication
• Python -> Host Computer
  • PySerial -> Communication
  • IKPy -> Inverse Kinematics
• Solidworks -> Design
• KiCad -> PCB Design

Expenditure

Rincian_Anggaran.pdf

Documentation

Video Demo.mp4 Robot.jpg Photo1.jpg Photo2.jpg

Team

• Mechanical - Silvia Nur Aziza
• Electrical - Rayhan Rizqi Zamzamy
• Programming - Nabiel Nizar Anwari