Arm mission needs Pick up tools (e.g. screwdriver, hammer, wrench) – graspable features (such as a handle) no greater than 5 cm in diameter Rocks up to 5 kg in mass (Max Dim: 40 cm x 40 cm x 40 cm) Pick up 10g of soil from multiple sources Design calculations for arm (Load calculations) Joints Load Joint 1 […]
Category: Robotic arm
Arm control and electronics
4 DoF forward kinematic controlled arm – capable of lifting a weight of over 5kgs. Dedicated PID Stepper drivers in connection with Marlin hardware and software allowed us to manually operate the arm. Control was also executed by physical twin system using position tracking of a twin’s joins using integrated potentiometers. Depending on the settings our arm is capable of […]