Stepper motor operated robot arm.

Introduction

This robot arm is based on an IRB series of ABB robot arms. Its operated by stepper motors via an atmega32 that is connected to a PC via USB serial. I uses some clever counter-balancing.

Stepper motor operated robot arm.
Stepper motor operated robot arm.

6 axis robot arm

I sort of built this robot from the middle outwards. Its made from a lot of scavenged parts. Many of the parts are from industrial chart recorders, some of them are from inkjet printers, its quite a mix. In total is has 6 axies (gripper inclusive) with the gripper itself being a 9g hobby servo. Each of the stepper motors has an optical interrupter to find its zero location.

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Stepper motor operated robot arm.

6 axis robot arm

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