![]() ![]() The Robotic Glove consists of the following components: This ‘Robot Glove Exoskeleton’ design just blended well with the design of the Robotic Arm. However, you can use a standard Builder’s Glove for prototyping the Robotic Glove. In keeping true to the Robotic Arm’s aesthetics, you can print a 3D Printed Exoskeleton Gauntlet to use as your Robotic Glove. Human Flex Sensor Robotic Glove – Fully Assembled with Flex Sensor The below wiring diagram shows the final assembly of all electronic parts to create a Robotic arm, including the Bluetooth module. The NEMA-17 and the A4988 Driver si used to control the direction of the Motor, you can see from the diagram below:Īnd finally, the following diagram shows the final wiring diagram assembly of the complete Robotic Arm. To rotate the Robotic Arm, a more robust motor than a servo motor would need to be used Robotic Arm – Stepper Motor and DriverĪ Stepper Motor (NEMA-17) can be used due to its precision and high torque, helping the Robotic Arm rotate seamlessly to gesture controls. Since the Robotic was starting to gain a bit of weight, and the MG966R servo motor was not powerful enough to rotate the Robotic Arm at the base. The Arduino diagram wiring should look as below: NEMA-17 for base rotation In this project, a 5V, a 2200 mAh RC Battery was used. The Arduino cannot supply enough power to control all motors. Note: Use an external power supply when powering each Motor. HCPCA9685 Library: Add this Library to your Arduino IDE. In this project, we’ll be using the PCA9685 Servo Driver to power the MG966R Servo. Given that the Robotic Arm is ideally a series of motors in coordinating together, we can theoretically attach several motors that can be all powered by the Arduino. Introducing the servo motor and Driver Servo Driver for Robotic Arm You can find many other Robotic Arm 3D Printed alternatives too. However, the parts could take a collect at least 40 hours to print all parts. We’ll cover this more in a future release. You can also find my remixes for a Robotic Arm Camera Stand. ![]() You can access Wonder Tiger’s Robotic Arm from the Part’s list. I’ve chosen this example as it was an excellent design providing six-axis, well documented, and had strength/ robustness. This helps in the long run, as there are many examples of a 3D printed robotic arm that can be customized, e.g., adding an LED, creating a camera stand Clamp:Īs previously mentioned, the Robotic Arm was modeled around the Robotic Arm on Thingyverse. To to keep this robotic arm within Budget, 3D printing a Robotic Arm was the best option. Purchasing a Robotic Arm can be quite expensive. Note: Capital “F” (finger ) represents the opposite direction of the servo motor spin Assembly of Parts Each is having keys to characterize its function. The following represents a mapping table of the values sent to the Robotic Arm by the Glove. And With enough gestures, the robotic arm comes to life! Robotic Arm – Full View Robotic Arm Mapping We can then send a specific value mapped of a gesture to the Robotic Arm to control a servo motor via Bluetooth. We are using these sensors to detect a change in a gesture. Accelerometers – For more natural gestures, an accelerometer can detect a change in the arms and wrist rotation.This measurement is then used to detect hand movement changes. Flex Sensors – Based on the degree of bend of this plastic piece, the resistance changes, affecting the current.You may be wondering, what sensors does the Robotic Glove use?įor MARK 1, we would be using Flex Sensors and an accelerometer (MPU6050) The Robotic Glove’s Arduino uses sensors to communicate with the Robotic Arm Arduino and sends data to move a Servo to the desired angle. If we think of a Robotic Arm as a series of servo motors coordinating with each other to perform a function, we can create a robotic arm controlled by a Robotic glove. ![]() ![]() Now, if we add multiple servos and more sensors, we can control each Motor. When a value has been received, the servo driver will send a signal to a specific servo motor moving the Robotic Arm. Overall, we’re sending a signal (over Bluetooth) from the Robotic Glove to the servo motor. How it Works Robotic Arm Theory – Electronics Only Note: for larger hands, print at 105% scaleīelow are all the parts that are required to build the electronics: The Robotic Glove was an aesthetic addition to the project, but you can just as well use a builders glove to implement the Robotic Arm. Robotic Glove: The Robotic Glove.STL files (credits: Roman 13) ![]()
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