DIY Robotic ARM

Introduction

The goal of this mini-project is to modify the open source PyBot Robotic Arm from JJRobots by replacing their custom electronic board by combining multiple boards available on the market.

Links to the original project

Documentation:

• Original project home page
• Assembly guide
• Gripper assembly guide
• Details about electronics
• Shop where to buy a kit
• Original electronic board (not used in this project)
• Schematics of the original electronic board

Downloads:

• STL files for the 3D printed parts
• Arduino code
• Python code

Note: this page contains the instructions to download and install the applications.

Alternative electronic board

The following parts are assembled in order to replace the original electronic board:

• An OCROBOT ALPHA D21G18A: a board providing an ARM Cortex M0 microcontroller ( schematics).
• A RAMPS 1.6 board ( schematics and connectors schematics).
• 3x A4988 stepper motor drivers.
• A D1 Mini ESP8266 wifi module ( AT commands datasheet).
• A GY-53 VL53L0X LIDAR.
• A voltage conversion board 12V to 5V to 3.3V BENQ CA-1253.

In order to assemble all these boards, I have designed this PCB with EasyEDA.

Note: if you are in China, you can order your PCB from the Chinese website of EasyEDA.

Here is the schematic, PCB design and the Gerber files.

External links

• Tutorial about how to control a stepper motor with an Arduino and an A4988 driver
• Tutorials about LEDs and sample datasheets for LEDs.