/arduino-4-DoF-bot

This is the project repository for a mechanical 4 degree of freedom robot arm. It includes a library to control servos and perform Forward and Inverse kinematics and some extra spicy things.

Primary LanguageC++

4-DoF-Bot

This project involves building a robot arm “manipulator” that can locate and grab the coloured object from one place to another place within its workspace. The object will need to be placed in a container with different compartment based on the size of the object.

Working: https://youtu.be/DJXzEvkOSws

Inital CAD

Image of CAD Robot arm

Circuit design

Image of circuit

The main components are described according to their assigned numbers above:

[1] – The Arduino Uno

[2] – The Edge Detector: The edge detector used consists of an Infrared (IR) LED adjacent to a phototransistor.

[3] – The Colour Sensor: The colour sensor consists of two parts: 3 differently coloured LED’s, modelled as a single RGB LED.

[4] – The Limit Switches.

[5] – The Servos.

Final Design

Image of Robot arm