Simplified inverse kinematics model for a 5 degree of freedom + gripper robotic arm (2011)

The following describes a simple method (inverse kinematics) of calculating the angles for all joints of a robotic arm to obtain a desired position of the end actuator (gripper). The video bellow shows the algorithm at work. The picture bellows shows the robot arm used for this example. It has 5 degrees of freedom: 1.… Read More Simplified inverse kinematics model for a 5 degree of freedom + gripper robotic arm (2011)

Robotic Arm, Lego gripper + Lynxmotion Servo Erector elbow, shoulder and base version (2010)

Experimental robot arm with 5 DOF (Degrees of Freedom) plus actuator (gripper). The Lego version was to shaky and weak so replaced from the elbow down with Aluminum Servo Erector brackets from Lynxmotion. Gripper, wrist and wrist rotate made with Lego Technic and aluminum parts, elbow, shoulder and base made with Lynxmotion parts. Parallax Propeller Proto… Read More Robotic Arm, Lego gripper + Lynxmotion Servo Erector elbow, shoulder and base version (2010)

Robotic Arm, Lego Technic version (2010)

Experimental robot arm with 4 DOF (Degrees of Freedom) plus actuator (gripper). Frame made of Lego Technic parts and aluminum sheet. Robot Gripper made of cheap Turnigy TG9e (3) servos ($1.99 each at hobbyking.com), elbow and shoulder use HiTec Servos. Parallax Propeller Proto Board used to generate the PWM signals for the Servos. A custom spin… Read More Robotic Arm, Lego Technic version (2010)