3D Robotic Arm With Bluetooth Controlled Stepper Motors

In this tutorial we will see how to make a 3D robotic arm, with 28byj-48 stepper motors, a servo motor and 3D printed parts. Printed circuit board, source code, electrical diagram, source code and lots of information are included on my website

Download application and source file -> http://rogerbit.com/wprb/wp-content/uploads/2020/07/robot_bluetooth_uln2003.zip

Arduino uno

Characteristics

• Microcontroller: ATmega328
• Operating Voltage: 5v
• Input Voltage (Recommended): 7 - 12 v
• Digital Input / Output Pins: 14 (Of which 6 are PWM outputs)
• Analog Input Pins: 6
• Flash memory: 32 KB (ATmega328) of which 0.5 KB is used by Bootloader.
• SRAM: 2 KB (ATmega328)
• EEPROM: 1 KB (ATmega328)
• Clock Speed: 16 MHZ.

The parameters of this stepper motor are:

• Model: 28BYJ-48 - 5V
• Nominal voltage: 5V (or 12V, value indicated on the rear).
• Number of phases: 4.
• Speed reducer: 1/64
• Step angle: 5,625 ° / 64
• Frequency: 100Hz
• DC resistance: 50Ω ± 7% (25 ° C)
• Traction frequency:> 600Hz
• Non-pull frequency:> 1000Hz
• Traction torque:> 34.3mN.m (120Hz)
• Self-positioning torque:> 34.3mN.m
• Friction torque: 600-1200 gf.cm
• Drag in torque: 300 gf.cm
• Insulation resistance> 10MΩ (500V)
• Electrical insulation: 600VAC / 1mA / 1s
• Insulation degree: A
• Temperature rise: <40K (120Hz)
• Noise: <35dB (120Hz, no load, 10cm)

Main Specifications:

• 500 mA nominal collector current (single output)
• 50V output (there is a version that supports 100V output)
• Includes output return diodes
• Inputs compatible with TTL and 5-V CMOS logic

• Dimensions (L x W xH) = 22.0 x 11.5 x 27mm (0.86 x 0.45 x 1.0inch)
• Weight: 9 grams
• Weight with cable and connector: 10.6 grams
• Torque at 4.8 volts: 16.7 oz / in or 1.2 kg / cm
• Operating voltage: 4.0 to 7.2 volts
• Turning speed at 4.8 volts: 0.12 sec / 60º
• Universal connector for most radio control receivers
• Compatible with cards like Arduino and microcontrollers that operate at 5 volts.

Pinout

Orange–> Signal

Red–> Positive

Brown–> Negative

• Works as a bluetooth master and slave device
• Configurable using AT commands
• Bluetooth V2.0 + EDR
• Operating Frequency: 2.4 GHz ISM Band
• Modulation: GFSK (Gaussian Frequency Shift Keying)
• Transmit Power: <= 4dBm, Class 2
• Sensitivity: <= - 84dBm @ 0.1%
• BERSecurity: Authentication and encryption
• Bluetooth profiles: Bluetooth serial port.
• Distance of up to 10 meters in optimal conditions
• Operating Voltage: 3.6 VDC to 6 VDC
• Current Consumption: 30 mA to 50mA
• Chip: BC417143
• Version or firmware: 3.0-20170609
• Default Baud: 38400
• Baud rates supported: 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200.
• Interface: Serial TTL
• Antenna: Integrated in the PCB
• Security: Authentication and encryption (Default password: 0000 or 1234)
• Working temperature (Max): 75 ° C
• Working temperature (Min): -20 ° C
• Dimensions: 4.4 x 1.6 x 0.7 cm

Download Gerber file -> http://rogerbit.com/wprb/wp-content/uploads/2020/07/CONTROLADOR-DE-MOTOR-PASO-A-PASO.zip

Download source code in http://rogerbit.com/wprb/2020/07/brazo-robotico-3d-con-motores-paso-a-paso-controlado-por-bluetooth/