Open Source Six Axis Arm

Meet the 3D printed, open source pick n' place arm.

Homing Position

The arm was designed using 3D printed components and metal toothed 12 kg servos. In addition to this, the arm was designed with an initial homing position. This way we could calibrate each of the servos that together determine the position of the arm.

Sorting out some inverse kinematics

One of the initial goals was to calculate and write a program to return the inverse kinematics of the arm. This way, we knew the position of each of the joints and the gripper.

Now we could write some movement algorithms

By knowing the current position of the arm, and using forward kinematics to determine how much each servo needed to move, we were able to write programs that allowed the arm to move to a desired position on the checker board.

Finally we programmed in some CV

This way the arm would be able to identify balls of different colors and drop them in different locations.

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