Magnetic Robot Arm
Hi, my name is Baymax, and I am a middle school student at Mounds Park Academy. I recently completed a challenging and exciting project—a fully functional robotic arm. This robotic arm features five movable axes, allowing it to perform a wide range of precise movements. Instead of a traditional claw, I designed it with a solenoid at the top, which provides a unique way to interact with objects.
This project took me approximately eight months to complete, involving multiple stages of design, testing, and refinement. Throughout the development process, I faced various challenges, especially in programming and ensuring smooth movement across all axes. And also the program has gone through 3 major iterations.
For the design and modeling, I used Autodesk Fusion, a powerful 3D modeling software that helped me bring my vision to life. And For programming, I used Mind+.
And then next are the details of my work.
Supplies
- Servo 25KG---1
- Servo MG996R---4
- Hyper PLA- CF
- Servo Horn Metal Aluminum---5
- ps2 controller---1
- Relay---1
- solenoid---1
- dupont line
- Arduino Mega 2560---1
- AA batteries---4
Designing Robotic Arms
Designing Robotic Arms (My robot arm design tools is autodesk fusion). My robot are is gone through three iterations.
Building Base
Building Body
Building Top
Control System
Programming
/*!
* MindPlus
* mega2560
*
*/
#include <DFRobot_PS2X.h>
#include <DFRobot_Servo.h>
// Dynamic variables
volatile float mind_n__4ShangXia, mind_n__2ShangXia, mind_n__5ShangXia, mind_n__3ZuoYou,
mind_n__1ZuoYou;
// Create an object
DFRobot_PS2X ps2x;
Servo servo_16;
Servo servo_40;
Servo servo_22;
Servo servo_18;
Servo servo_14;
// Main program start
void setup() {
servo_16.attach(16);
servo_40.attach(40);
servo_22.attach(22);
servo_18.attach(18);
servo_14.attach(14);
ps2x.config_gamepad(5,3,4,2, true, false);
ps2x.enableRumble();
delay(300);
mind_n__4ShangXia = 90;
mind_n__2ShangXia = 90;
mind_n__5ShangXia = 40;
mind_n__3ZuoYou = 150;
mind_n__1ZuoYou = 90;
}
void loop() {
ps2x.read_gamepad();
delay(30);
if ((ps2x.Analog(PSS_RY)<50)) {
mind_n__2ShangXia -= 2;
}
if ((ps2x.Analog(PSS_RY)<100)) {
mind_n__2ShangXia -= 1;
}
else if ((ps2x.Analog(PSS_RY)>150)) {
mind_n__2ShangXia += 3;
}
else if ((ps2x.Analog(PSS_RY)>200)) {
mind_n__2ShangXia += 5;
}
if ((ps2x.Analog(PSS_LY)<50)) {
mind_n__4ShangXia -= 2;
}
if ((ps2x.Analog(PSS_LY)<100)) {
mind_n__4ShangXia -= 1;
}
else if ((ps2x.Analog(PSS_LY)>150)) {
mind_n__4ShangXia += 3;
}
else if ((ps2x.Analog(PSS_LY)>200)) {
mind_n__4ShangXia += 5;
}
servo_16.angle(abs(mind_n__2ShangXia));
servo_40.angle(abs(mind_n__4ShangXia));
if (ps2x.Button(PSB_PAD_UP)) {
mind_n__5ShangXia += 2;
}
if (ps2x.Button(PSB_PAD_DOWN)) {
mind_n__5ShangXia -= 2;
}
servo_22.angle(abs(mind_n__5ShangXia));
if (ps2x.Button(PSB_L1)) {
mind_n__3ZuoYou += 2;
}
if (ps2x.Button(PSB_R1)) {
mind_n__3ZuoYou -= 2;
}
servo_18.angle(abs(mind_n__3ZuoYou));
if (ps2x.Button(PSB_L2)) {
mind_n__1ZuoYou += 2;
}
if (ps2x.Button(PSB_R2)) {
mind_n__1ZuoYou -= 2;
}
servo_14.angle(abs(mind_n__1ZuoYou));
if (ps2x.ButtonPressed(PSB_PINK)) {
digitalWrite(53, HIGH);
}
if (ps2x.ButtonPressed(PSB_RED)) {
digitalWrite(53, LOW);
}
}