This project focuses on designing and building a versatile 6-DOF articulated robotic arm equipped with a specialized vacuum gripper for precise object manipulation. The arm's control system integrates Raspberry Pi with RoboDK for seamless operation, utilizing vision-guided control methods for enhanced accuracy. The project emphasizes cost-effectiveness, with 3D printed components (excluding essential parts like bearings, motors, and screws) and a budget-friendly design approach.
- Type: 6-DOF Articulated Arm
- End Effector: Vacuum Gripper (4 Nozzles)
- Actuators: Stepper Motors (High Torque Capacity)
- Motor Driver: DM542 (4.5A Continuous Current)
- Power Supply: 24V Constant DC Bench Power Supply
- Control System: Raspberry Pi with RoboDK & Image Processing
- Control Method: Vision-Guided Control
- Materials: 3D Printed (Except Bearings, Motors, Screws)
- /src: Contains source code for Raspberry Pi control, image processing, and robotic arm algorithms.
- /model: CAD files for 3D printed components.
- /docs: Project documentation, including specifications and guides.
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Setup:
- Assemble the robotic arm according to the provided CAD files and documentation.
- Connect stepper motors to DM542 motor driver and power supply as per specifications.
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Software Setup:
- Install necessary dependencies detailed in
/docs/software_setup.md. - Upload Raspberry Pi control scripts from
/srcto your Raspberry Pi.
- Install necessary dependencies detailed in
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Operation:
- Power on the robotic arm and Raspberry Pi.
- Run the control script to initiate the arm.
- Utilize vision-guided control for accurate object manipulation.
- Encoders are not used in this design to maintain budget constraints.
- Regular maintenance of stepper motors and the vacuum gripper is recommended for optimal performance.
Contributions are welcome! Feel free to fork the project and submit pull requests.
This project is licensed under the MIT License - see the LICENSE file for details.