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An Arduino-powered 4-axis parallel-mechanism robot arm

by Ufactory on January 19, 2014

Table of Contents

An Arduino-powered 4-axis parallel-mechanism robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Intro: An Arduino-powered 4-axis parallel-mechanism robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Step 1: Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Step 2: Base Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Step 3: Inner Turntable Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Step 4: Outer Turntable Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Step 5: Shoulder Plate Servo Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Step 6: End Effector Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Step 7: Fore Arm, Back Arm & Connecting Rod Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Step 8: Install all the parts together to make the arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Step 9: Install the electronic modules on the arm and make it move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Advertisements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

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Intro: An Arduino-powered 4-axis parallel-mechanism robot arm
uArm is a miniature 4-axis parallel-mechanism robot arm, modeled after the ABB PalletPack IRB460 industrial robot arm.

It is made up of laser cut acrylic or wood parts, powered by standard RC hobby servos, and controlled by an Arduino-compatible board.

The basic design is Arduino-controlled, using 4 servos, with 4 degrees of freedom. Three servos on the base control the main movement of the arm and the last servo on
the top moves and rotates the object.

uArm can be controlled with keyboard or mouse easily.

Using mouse to control uArm to play Cup Stacking via serial.

Now we are on Kickstarter, you can see more details about this robot here.

Step 1: Materials

Step 2: Base Assembly

Secure the two base plates via the corner holes, using four M4-10 rivets and four 32mm-M4 suction cups.

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Step 3: Inner Turntable Assembly

Step 4: Outer Turntable Assembly

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Step 5: Shoulder Plate Servo Assembly

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Step 6: End Effector Assembly

Step 7: Fore Arm, Back Arm & Connecting Rod Assembly

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Step 8: Install all the parts together to make the arm
1. Left Shoulder Plate to Base Assembly.
2. Back Arm to Left Shoulder Plate Assembly.
3. Servo Turntable to Right Shoulder Plate Assembly.
4. Right Shoulder Plate to Base Assembly.
5. Fore Arm to Back Arm & Connecting Rod to Left Shoulder Assembly.
6. Fore Arm Lever to Fore Arm Servo Lever Assembly.
7. End Effector to Fore Arm Assembly.
8. Electronic Module Holder to Shoulder Assembly.

The uArm robot arm is now completely assembled - Enjoy!

http://www.instructables.com/id/An-Arduino-powered-4-axis-parallel-mechanism-robot/
Step 9: Install the electronic modules on the arm and make it move
Install the electronic modules on the arm and make it move.

http://www.instructables.com/id/An-Arduino-powered-4-axis-parallel-mechanism-robot/
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hack) by Ghongde ZRob314 OddBot
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