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.