Robot Arm Build
Robot Arm Build
Embedded Files
Notable Features
Notable Features
12v Nema 17 Stepper Motors, 8:1 Gear Reduction
Configuration: Prismatic - Revolute - Revolute - Revolute
3 Dimensional Control, 4 Degrees of Freedom
Firmware: custom inverse kinematics model
September 06, 2025
September 06, 2025
Power on test of new control board.
Mainboard: BTT SKR Mini v3.0
Coprocessor: Raspberry Pi 3B+
Planned Firmware: Klipper
April 22, 2025
April 22, 2025
Milestones:
Milestones:
-accomplished consistent 2D movement
Issues
Issues
-motors overheat due too high current
-high current is needed to get enough torque
-movement is not smooth or precise enough, arm tends too oscillate at the end of movements
Future Improvements
Future Improvements
Replace gearboxes with something that is smaller and has a higher gear reduction
-increases torque, reducing required motor current
-increases angular resolution of joints, making movements smoother
-convert to a 24v system, allows the motors to run at higher speeds and torques to support the higher gear reduction
April 03, 2025
April 03, 2025
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