Year Zero Robotic Arm Project

Introduction

This repository is for the Year Zero Robotic Arm project, included is Arduino sketches, software and some documentation.

Sketches

• YearZeroCodeItYourself, you should start here, once the robotic arm has been constructed and connected to the PC and the mains supply. Then once you have attempted to control the robotic arm then -> Missing Code

• YearZeroRobotArmManualInstructions, gives you manaul control over each servo individually and is designed to be used via the command line or the Robotic Arm app
• YearZeroRobotArmMain, is to be used to automate all planned movements you calculated using the latter sketch.

A Video on how to do download the project to get access the code in one place

App

• The RoboticArm app has been downloaded on to the Android OS tablets supplied with this robotic arm, please note it is developed for Android only. The App is available for you to download on your own device, but as this is open source you install it at your own risk, as you should only install from trustworthy sources.
• Four Screen shots have been included with the RoboticArm app folder.
• Code is available to view as an image in the same folder as the RoboticArm app

Specification

• Specification - link for specification sheet, please read some useful information inside.

Installation

• All you need to do is clone/download (greenButton) and choose download as Zip.
• Right click an extract at current location (Downloads) or navigate to the ardunio sketch folder on the machine and do it there. If you need help ASK!

Construction

• Digital Construction Manual

• Wrist and Gripper needs a finer screw driver than the one provided in the pack.

Click the image to be redirected to the construction video on youtube

Make sure you use the right numbered servo motors (numbering on the end of the cable near the connector) in the right joints. And be a bit careful because mounting the servos with the screws causes the plastic to “bloom” a bit and it will never be quite as tight if you have to remove them and put them back in again. Although the plastic pentagons are pre-attached to the servo hub, but I found that some were a few degrees off center, so you just have to adjust your code for that, AGAIN IF YOU NEED HELP ASK!.

Operational Information

Click the image to be redirected to a quick video of simple pick and place task, on youtube

Manual Code

To avoid damage to servos serveral key functions are implemented in code, this takes a few seconds be patient after all it is a virtue.

The robotoic arm will only move when an excepted command is inputted:

Allowed values for each servo are as follows:

• Base = B and ALLOWED values are 0 to 180
• Shoulder = S and ALLOWED values are 15 to 165
• Elbow = E and ALLOWED values are 0 to 180
• Wrist vertical = V and ALLOWED values are 0 to 180
• Wrist Rotation = R and ALLOWED values are 0 to 180
• Gripper = G and ALLOWED values are 10 to 73

• Home Position = HOM which is B90 S90 E180 V180 R90 G10

• Eg Base to 60 degrees = B60

The robotic arm is ready to receive commands when the led is ON. When the light is OFF when your command is being processed

Automation code

ORDER OF OPERATION Robotic Arm moves in this order:

* base -> shoulder -> elbow -> wrist vertical -> wrist rotation -> gripper 

Plan your movements accordingly

Acknowledgements

• The sketch has been developed to use key functionality from Braccio Robotic Arm so students do not have to download the libraries.
  • Further modification includes Serial I/O PLEASE NOTE that this is only to be used with the Braccio Shield V4 becasue the softstart function protects the servo motors and the junctions from damages

WARNING There has been a request to change some code in the original source code linked above, mix-up of wrist values. So please only use the code that is provided in this repository as the change has been incorporated.

Health and Safety

• DO NOT put any body parts or hair near moving parts and when the robotic arm is in operation
• DO NOT exceed max load 200g