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Micro Servo Robot

 
AttachmentSize
MiniRobot_1_3.ino_.zip2.73 KB
MiniRobot_1_3EN.ino_.zip3.52 KB
Micro_Servo_Robot_Flowchart.pdf84.04 KB
Micro_Servo_Robot_Diagramm.pdf74.13 KB

4 axis robot arm with a small gripper and teach function. (In fact: it is a 3 axis robot)

This robot can follow. This robot can learn. And this robot can repeat endles. And he lost all his memory if the batterys are low. This makes it new all the time he is powered again. - The idea for this project is taken from https://www.robotshop.com/letsmakerobots/node/21633 - Stoerpeak made me do it! -

Arduino mini pro 5V/16MHz

4 micro servos 180degrees

4 22k potentiometer

NmH Battery 4.8V

Wires, Button, Switch

Balsa wood, Metal, Plastic

Zip Ties and Glue

 

Teach mode: After a reset the robot arm follows the teach in arm while simple mapping the analog inputs every 25ms to the servo motors. Pressing the button stores each servo position in a array

Play mode: Double press the button switch to play mode. The sketch reads the array step by step and and moves the robot arm. For cool loocking movements i added a routine calculates different micro steps for each servo to have moving start and end sync on all axis. Also added a ramp for soft increase/decrease velocity. Shorter travel distances the robot does slow, longer distances with faster speed. Its all about timing so my thoughts in this moment

Play Mode version 1.1 The gripper input is used to set the delay (0,1,3,15,60,300 seconds) after a loop is done. The switch (it was left from the project start) pauses the robot

08/2015 i added the same code 1.3 but i try add english comments

10/2015 flowchart for the code and electrical diagram. (make sure you use a pullUp resistor at input 4,6 / change the code for input 4. This should fix the 'slow running problem' often happend)

 

Hey people!!: If u share my code please keep decency and give me credits. And dont forget Stoerpeak!

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I will start my own sory kinda new with this never posted before tough you might like it since i got inspired by your movie link on youtube i was already thinking how to control my arm but the mimic function is stupid proof by the way did you write the base code or am i looking for someone else

thanks anyway as soon as i got my own set up wil post link

Dear Pinaut!

Your robot is very awesome and i think you are also very smart too.

I'm a student can you give me the flowchart? so that i can understand the code.

Some of them are difficult for me to understand.

Thank you in advance and Looking forward to your reply!

 


Flowchart and circuit diagram added. :-)

Can u share this parts 3d files ? 

I dont hava a program the design this parts.

Or can give this parts sizes ?

Thanks

I liked this,because your robot is very smooth.

There are no design files. Balsawood and a knife is all u need. The size u can imagine compare to the servos. One suggestion: The teach arm and robot arm can have different size, but should have same ratio between rotation axles. P.

 I liked it before, now that I know it is made with a knife and balsa wood, I like it even more.

There are only a handful of us that aren't making robots out of either pre cut parts or 3D printed parts. Nice job and original work.

hi pinaut..

ı want to ask you for my arduino robot arm..i used arduino uno and 6 servo motor ,my question can i change your code for just one arm ..i mean i dont want use another arm ,i want hold mine robot arm and budge it, teach some movement ..is it posisible? i hope you can understand my problem ..

You have to ad some arrays an ad some extra analogRead and extra servo,s min max settings in the step calculator Watch out whit SensValue you need one more than you have axis so your case 7 one is for the potensio to calculate delay i would keep them al ordert and put that one on SensValue[6] make sure to change it from 3 to 6 ps i would check the code carvully i am busy adding some functions right now and found some weird anomaly,s probaly the result of multiple programers greets nicolini
You have to ad some arrays an ad some extra analogRead and extra servo,s min max settings in the step calculator Watch out whit SensValue you need one more than you have axis so your case 7 one is for the potensio to calculate delay i would keep them al ordert and put that one on SensValue[6] make sure to change it from 3 to 6 ps i would check the code carvully i am busy adding some functions right now and found some weird anomaly,s probaly the result of multiple programers greets nicolini

Hello, Any one can help me please. when I press the button conected to the PIN (6). when I open the serial monitor and I press it dont respond and dont put me that the step was saved.. I have to press it more than one time for print me that was saved.... help please I purchase the servos :( and dont work .. 

Sorry for my bad English.