Tertiarm - low cost, 3d printed robot arm based on Ikea lamp

Let's Make Robots Robots
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This is first version of my low cost 3d printed robot arm. It is based on Ikea Tertial lamp. I choose it because it has very good kinematic with using springs to unload servos. So you can use different number of springs to achive diffrent lifting power.

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Techinacal specification:

  • 5 DOF.
  • Full lenght: 690mm
  • Lifting power with 4 standart spring: 0.5kg (distance between base and attaching point: 500mm)

You can find some information and download STL files for free at:

Instruction:

Code:

I recommend your to use VarSpeedServo library by NETLab Toolkit Group. It allows your to change speed of your servo. Your can read more and download it at GitHub.

 

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Thank you for viewing!

 

Move things, push buttons, etc.

  • Actuators / output devices: Servos, magnet
  • CPU: arduino uno
  • Programming language: C++
  • Target environment: indoor
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/tertiarm-low-cost-3d-printed-robot-arm-based-on-ikea-lamp
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Very Nice

Which servos are you using?

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mg-958 1 pcs.mg-945 2

  • mg-958 1 pcs.
  • mg-945 2 pcs.
  • sg-5010 2 pcs.
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Interesting servo

Interesting servo combination you have going there. I have never used any of those I mostly use the MG-996R servos.

I did a comparison between the 996R and the 958 and was surprised at the difference in torque.

The 958 might be a new one to try in bipeds.

 

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MG-958 is perfect for

MG-958 is perfect for heavy-duty joint. I use it in shoulder, since MG-945 haven’t got enough torque.

6

Nice Idea!

Nice Idea!

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**Thank you! **

Thank you!

 

8

Nice project!

 

I like the idea of re-using something around home to create a new robot with some servos and a micro. Great project! The VarSpeedServo is a great adition and I didn’t know about it. I’ll have a look :wink: Thanks for sharing and keep going!

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Thank you! With standart

Thank you! With standart servo library all motions were too fast and rude. So I decided to use VarSpeedServo library to make it nice and smooth. Also it allows to automatically wait until one move complet, before begining next.