Insert bearing from Persons Bearing Kit over screw on outer side of servo bracket. Insert screw from Persons Bearing Kit into hole on back left side of servo bracket with screw head on side facing servo motor. Place servo mounting bracket so that servo would be mounted forward and flat plate with two holes is at back. Test both servo motors to verify proper operation of the gripper. Insert and tighten horn mounting screw to secure gripper jaw mechanism to motor shaft. Insert servo motor in position under jaw, mesh with gear. #Servo motor arduino model solidworks full#
Manually manipulate gripper jaws until they are at the full open position. Insert and tighten horn mounting screw to secure gripper back to motor shaft. Insert shaft of servo into back of gripper assembly, mesh with gear. Take gripper and position 90 degrees to one of the motors. Set both servos to 0 degree position (full ccw). Horn mounting screws from servo attachments Here are the details of each of the steps: Assemble Gripper Parts Required Join Elbow Mount with Brackets to Wrist Motor Mount. Join Double U-Bracket to Elbow Mount with Brackets. Assemble Wrist Motor Mount with Gripper mount. Assemble Elbow Motor Mount with Brackets. You can also piece together this arm or a custom version of it using the parts DFRobot has on their website.Īssembly of the robot arm will be done in the following sequence: The DFRobot 5 DOF robot arm kit is typical of many 5 DOF robot arms so you may have a kit similar to it. The arm is capable of a lot of torque and momentum so it needs to be safely secured. In operation the base of the arm will need to be fastened down securely to a solid surface. Jaws – The gripper mechanism itself, operating much like a bench vice or pliers. The human hand and arm don’t have such a joint, rotating a hand is done with several different muscles in the arm instead. Grip Pivot – Thss allows the gripper to be rotates 90 degrees in either direction. It permits better positioning of the gripper assembly. Wrist – The second section on the arm. Like a human elbow it allows the harm to bend. The base is fixed in place, at least for now. Base – The base of the robot arm, corresponds to a human shoulder. In some cases (around the gripper) there is no corresponding section on a human arm so I names those sections as descriptively as I could. I have named the arm sections to loosely correspond with the equivalent sections on a human arm, which is a point of reference that most of us should be familiar with. The servo motors each power a different section of the arm and going forward will be referred to by the name of the section that they power. 
Our robot arm has 5 motors and thus is advertised as a “5 DOF” robot arm.
For a robot arm this usually means the number of motors that the arm has.
In robotics however “degrees of freedom” or DOF is usually considered to represent the number of movable joints that a mechanism has. If you are an aeronautical engineer then to you degrees of freedom will be likely be represented by the classic three dimensions and directions an object can move in: Turns out it can mean different things depending upon what field you are in. What exactly does the term “degrees of freedom” mean? 5 Degrees of FreedomĪs with most robot arms the DFRobot kit is advertised as a “5 DOF” or 5 degrees of freedom robot arm. The only tools required to assemble the arm are a phillips screwdriver (a #1 works well) and a set of pliers. The gripper mechanism comes assembled except for the servo motors.Ī complete parts list for the DFRobot 5 DOF Robotic Arm Kit is shown here:ĭSS-M15 DF Metal Geared Standard Servo 15Kg 180° The servos, brackets and hardware come packages in individual plastic bags with identifying labels.
Two 4 Kg/cm servos for the gripper mechanism. Two 15Kg/cm servos for the base and elbow. The arm is powered by 5 servo motors, all standard sized: The brackets and supports for the arm are constructed from black anodized aluminum which makes for a strong support. The DFRobot 5 DOF Robotic Arm Kit consists of all of the servo motors, brackets, fasteners and other hardware that you will need to construct a small but powerful robotic arm complete with a gripper mechanism. Let’s begin by looking at what it is we will be building. Once we get the arm built we will also put together a simple Arduino controller so that we can control the movement of the arm and its gripper. The arm we will be working on today is the DF Robot 5 DOF Robotic Arm kit. Today we will be constructing another robot arm, one with more power and capabilities than the MeArm.
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