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Stepper motor operated robot arm.

Posted on 20/12/2022 by rue_mohr in robot arms
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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.


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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