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.

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:

• Thingiverse
• Hackaday

Instruction:

• Instructables

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.

•  TertiarmTest.ino

Thank you for viewing!