Cánh tay Robot (Dự án Arduino)

Introduction

This is the Fully Functional and Complete CAD Model for the 3D-printable 4-DOF Robotic Arm.
All files availible for download. 

Working Video: https://youtu.be/T5URUtJ1Zg4
Work in progress. 

You can support my work and buy me a coffee here: Buy me a Ko-Fi!
It helps more than you know!

Tools

Needed or good to have tools for this project.

Soldering Iron TS101

Aliexpress Link

Amazon Link

(Recommended)

Heat Inset Tip Kit - For TS101

Aliexpress Link

Amazon Link

(Recommended)

Electric Precision Screwdriver 

Aliexpress Link

Amazon Link

(Recommended)

Allen Key Set

Aliexpress Link

Amazon Link

Torx Key Set

Aliexpress Link

Amazon Link

Torque Screwdriver

Aliexpress Link

Amazon Link

Wire stripper

Aliexpress Link

Amazon Link

Wire cutter

Aliexpress Link

Amazon Link

Heat Insert Press Tool

Aliexpress Link

Amazon Link

Crimp Tool

Aliexpress Link

Amazon Link

Soldering Iron - Generic (Alternative)

Aliexpress Link

Amazon Link

Budget friendly alternative

Heat insert tip - set (Alternative)

Aliexpress Link

Amazon Link

Budget friendly alternative

Precision Screwdriver Set

Aliexpress Link

Amazon Link

Budget friendly alternative

Consumables

Heat insert set

Aliexpress Link

Amazon Link

Wire - Power

Aliexpress Link

Amazon Link

Wire - Communication / Signal

Aliexpress Link

Amazon Link

M3 Button Cap Screw set

Aliexpress Link

Amazon Link

M3 Torx Screw Set

Aliexpress Link

Amazon Link

M3 Socket Head Cap screw set

Aliexpress Link

Amazon Link

Ferrules Set

Aliexpress Link

Amazon Link

Reusable Velcro Cable Ties

Aliexpress Link

Amazon Link

Filament - PC / ASA / ABS / PETG 

Aliexpress Link

Amazon Link

Filament - Engineering Grade Filaments

Aliexpress Link

Amazon Link

Carbon Fibre & High Temp 

Filament - PLA

Aliexpress Link

Amazon Link

Filament - TPU

Aliexpress Link

Amazon Link

Print Instructions

Any material is fine. 
PETG is the preferred budget alternative. 
But anything works.

No supports 
15% infill.

Assembly Instructions:

All instructions how to build and program the robotic arm is available in the download section.

Bill of Materials:

Printed Parts

Part name

Qty

1

robot_belt_arm basering

1

2

robot_belt_arm leg

3

3

robot_belt_arm socket_v2

1

4

robot_belt_arm rotategear

1

5

robot_belt_arm main_body_v2

1

6

robot_belt_arm endstop

1

7

robot_belt_arm gear_body

2

8

robot_belt_arm lever

1

9

lower_shank_140

1

10

upper_shank_140

1

11

pleuel_140

1

12

robot_belt_arm triplate

1

13

pleuel_bend_140

2

14

pleuel_bend_140- Mirrored

2

15

triplate_dual

1

16

manipulator_dual

1

17

gripperBase_by_ftobler

1

18

gripper_shaft

1

19

gripperFinger_by_ftobler

2

20

Wire_Guide

1

21

robot_belt_arm stabilizer - myMOD

1

Mechatronics

Item

Description

Qty

Amazon link

 Nema17 DC  Stepper Motor 

Motor

3

Buy HERE

Arduino Mega 2560

Controller

1

Buy HERE

12v/4A Power Supply

PSU

1

Buy HERE

Ramps 1.4 Curcuit board

Control Unit

1

Buy HERE

A4988

Stepper motor driver

3

Buy HERE

28BYJ-48 

12v Stepper motor

1

Buy HERE

Female 2.1mm DC Jack

Jack connector

1

Buy HERE

ULN2003

Driver Board Stepping Module

1

Buy HERE

Limit switch

Limit Switch

3

Buy HERE

12v  5010 Fan

Fan

1

Buy HERE

2GT Pulley 20 teeth

Pulley

3

Buy HERE

F624ZZ

Flange Bearing

6

Buy HERE

F686ZZ

Bearing

12

Buy HERE

51105

Ball Thrust Bearing

1

Buy HERE

2GT-6mm 200mm Closed Belt

Timing belt

1

Buy HERE

Paper clip (min. 35mm)

gripper_Fingers_Link_Wire

2

Buy HERE

Fasteners

Item

Description

Qty

Amazon Link

K6S M2x10

Button head screw M2x10mm

10

Buy HERE

K6S M3x6

Button head screw M3x6mm

36

Buy HERE

K6S M4x10

Button head screw M4x10mm

6

Buy HERE

K6S M4x16

Button head screw M4x16mm

8

Buy HERE

K6S M4x20

Button head screw M4x20mm

6

Buy HERE

K6S M6x20

Button head screw M6x20mm

1

Buy HERE

K6S M6x40

Button head screw M6x40mm

2

Buy HERE

K6S M6x50

Button head screw M6x50mm

1

Buy HERE

Nut M2

Hexagonal Nut - M2

6

Buy HERE

Nut M3

Hexagonal Nut - M3

4

Buy HERE

Lock Nut M4

Hexagonal Lock Nut - M4

14

Buy HERE

Lock Nut M6

Hexagonal Lock Nut - M6

4

Buy HERE

* The amazon links are affiliate links. If you appreciate the work I'm doing. Please consider using them when buying parts.