obotic arm odule - evive · odule diy robotic arm module enables a multitude of possibilities- make...

DIY Learning Module

DIY Robotic Arm module enables a multitude of possibilities- make your own pick-and-place system or a sketching robot to draw your favourite cartoon character or make a candy sorter. Use evive's menu based interface to control your creation or program it to automate the task.

Robotic Arm

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Robotic Arm

evive Learning Module Kit: Robotic Arm

evive's learning modules are designed to give you a perfect learning experience. Use these easy to assemble DIY modules to make your perfect robot mate, helping you do things otherwise difficult to accomplish.

The Robo�c Arm module enables a mul�tude of possibili�es- make your personal pick-and-place system or a sketching robot to draw your favourite cartoon character or make a candy sorter. Try to assemble the module yourself or take help of the instruc�ons inside. Use evive's menu based interface to control your crea�on or program it to automate the task.

Share what you make on hackster.io and tweet us a link at @evivetoolkit

Components Provided in the Module /Kit

2 x Metal Servo Motor and Accessories (Includes servo horns, screws etc.)

Standoffs

5 x 15mm M3 (Male to Female) 18 x 20mm M3 (Female to Female) 5 x 30mm M3 (Female to Female)

Fasteners 6 x M2 bolts of 12mm length 40 x M3 bolts of 8mm length 6 x M3 bolts of 12mm length 10 x M3 bolts of 20mm length 12 x M4 bolts of 16mm length

6 x M2 Nut 12 x M3 Nut 10 x M4 Nut

4 x M4 Lock Nut (Note: MX represents X mm in diameter)

60 x Jumper Cables 20 x Male-Male

20 x Male-Female 20 x Female-Female

2 x Micro Servo and Accessories (Includes servo horns, screws etc.)

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1 x Bearing

1 x Pen

1 x Binder Clip (for mounting)

1 x Joys�ck

1 x Bunch of Cable Ties

1 x DC Adapter 12V-2A

1 x Bo�om Inner Bearing Disc (the larger one)

2 x Middle Inner Bearing Disc

(the smaller ones)

2 x Middle Outer Bearing Disc (the ones with larger inner diameter)

1 x Top (+1 x Bo�om) Outer Bearing Disc

(the ones with smaller inner diameter)

1 x Top Inner Bearing Disc

1 x Base


Robotic Arm

1 x Racquet-Shaped Link 1 (the one with smaller holes)

1 x Racquet-Shaped Link 2 (the one with larger holes)

1 x Link 2

1 x Support Link 2

1 x Gripper Part 3

1 x Servo Holder

1 x Gripper Part 1

1 x Gripper Plate

1 x Gripper Part 2

1 x Gripper Link

1 x Gripper Claw 1

1 x Gripper Claw 2 Note: Bolts are different from screws.

Screw Bolt

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Different Configurations of Robotic Arm This DIY learning module kit allows you to make several robots of different kinds, three of which will be covered in this manual- a sketching robo�c arm, a pick & place robo�c arm and a pick & place with a twist. You can also add other end effectors to create more robots out of the kit.

1. Sketching Robot This is a three degree of freedom robo�c arm with a pen holder as its end effector. You can code this robot to draw anything, write your name, sketch your face and much more. Note: You can remove brown paper off your robot if you would love to do so. Assembly Instruc�ons: 1. Mount servo horn on top inner bearing disc using self-threading M2 (“M2”

represents a diameter of 2mm) screws of 8mm length. These screws can be found in servo accessories. Be careful about holes you are mounting the horn on (use holes closer to disk centre).

2. Place 30 mm stand-offs on the base. Fasten using M3 bolts of 8mm length.

3. Take the bottom outer bearing disc and slide it over standoffs.


Robotic Arm

4. Mount bottom inner bearing disc on stand-offs. Align the disc such that smaller holes are in line with the stand-offs.

5. Put the bearing on top of bottom inner bearing disc. Observe how disc supports the bearing from beneath.

6. Next, place the two middle inner bearing discs. These will perfectly fit inside the bearing.

7. Seat the “servo horn & top inner bearing disc” assembly on top of bearing as shown. Make sure all smaller holes in these discs are aligned since we will fasten them all together using 20mm M3 bolts. Note1: Do understand that it was necessary to slide down the bottom outer bearing disc earlier. You won’t be able to do it now due to diameter differences. Note2: Observe how the bearing has been clamped between the top and bottom inner bearing discs.

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8. Place the middle outer bearing discs first and then top

outer bearing disc as shown. The middle discs will have a larger inner diameter compared to the top and bo�om ones. The inner diameters of the middle discs will be equal to the bearing’s outermost diameter.

9. Slide up the bottom outer bearing disc, align the holes in the discs and stack them.

Again, see how the bearing is sandwiched because the top and bottom bearing discs have a smaller inner diameter compared to the bearing’s outermost diameter.

10. Place 20 mm stand-offs on the top and fasten the M3 bolts of 20mm length from the bo�om. Your base is completed now.

The base assembly should look like this upon completion.


Robotic Arm

11. Place servo motor into the slot available on racquet-shaped link 1. Be careful about the posi�oning and the orienta�on of the servo. Have a careful look at the illustra�ons.

12. Fasten the servo to the link using M4 bolts of 16mm length and nuts.

13. In the figures, you see head of servo poin�ng upwards. Don’t let this

confuse you; the head actually goes into the slot in the horn. We will come to this again, for now a�ach M3 bolts of 8mm length and 20mm standoffs to the link as shown in the illustra�ons below.

This is the orientation in which we will place the completed link upon our base. Note the free holes through which we will drive the screws to fix it to the base.

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14. Place this assembly on the base as shown & fasten using M3 bolts of 8mm length. Keep in mind that you’ve set servo at 90 degrees before assembling (connect servo to evive, go to control > servo and set servo at 90 degrees).

15. Observe how head of the servo goes into the servo horn. We have to ensure proper locking between servo head and servo horn. To do this, drive a bolt into centre of the horn (find this in servo accessories) through the bo�om of the base (through the large hole) and fasten it. It is important to ensure that your servo motor does not move ver�cally and exhibits only rotary mo�on while in opera�on.

16. Push the servo up the second slot in this link.


Robotic Arm

17. Fasten servo to the link using M4 bolts of 16mm length and M4 nuts.

18. Place racquet-shaped link 2 upon the arrangement as depicted in the following figures.

Notice the larger holes in racquet-shaped link 2. They are for ease of disassembly and re-assembly. You can easily drive a screwdriver through the holes if you want to fasten or loosen the screws right blow the holes.

19. Insert M3 bolts of 8mm length wherever required.

20. Now, assemble the second link. A�ach another servo horn on link 2 and

fasten using self-threading M2 screws. This link is different from supporting link as it has a slot for another servo. Refer to the figures.

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21. A�ach 20 mm stand-offs at the posi�ons shown, then fix these standoffs with M3 bolts of 8mm length.

22. Fit the servo holder into rectangular slots provided on link 2 from below. Refer to the figures and see which rectangular slots to fix the holder in.

23. Insert M3 nuts into the slots provided in the servo holder and fasten with

M3 bolts of 12mm length. Refer to the figures below.

24. Fix the micro servo in the slot provided in the configura�on shown. Be

careful about the posi�on and orienta�on of the servo head and fasten using M2 bolts of 12mm length and nuts as shown.

25. A�ach support link and fasten it to the

standoffs using 8mm M3 bolts.


Robotic Arm

This is how our second link looks. The servo horn will be attached to the mini servo’s head in our first link (step 16).

26. Now, we will assemble the pen holder. Note that there is a free servo head in the second link assembled. This servo will support the pen holder through a micro horn. A�ach the micro horn to the pen holder using self-threading M2 bolts of 8mm length (from micro servo accessories) as shown.

27. Fasten the pen holder to the second link by driving a screw (from servo accessories) through the servo horn as done in step 15. Keep in mind that the micro servo is set at 90 degrees as done in step 14.

28. Recall the free servo horn on the second assembled link. Set the servo angle to 180 degrees as done in step 14. Now, we will a�ach it to the servo head on the first assembled link and will fix them together by fasten it using the bolt provided in servo accessories.

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29. We are almost done now. The only thing which remains is to fix a pen. Proceed by placing it in the slot given at a suitable height.

30. Fasten M3 bolts of 8mm length to hold

the pen in the pen holder.

Note: Please ensure all fasteners are well-tightened, the robot might stay wiggly otherwise.

Behold! Ye men of art!

The machines are here. This is the future Picasso, Michelangelo, and all the greats were oblivious of! We have before us, a creation of modern engineering whose drawings shall

cut through your perceptions of mainstream sketches like an intricate storm of artistic chaos.

Have fun with your crea�on


Robotic Arm

Basic Circuit:

Note: Ensure that all the servos are properly connected and there are no loose wires, this might otherwise effect performance of the arm during opera�on. Use cable �es for wire management.

Your robot is ready to program. Visit the following link or scan the given code to learn how to program your robo�c arm: h�p://bit.ly/eviverasketch

Explore more at evive’s Learning Center: learn.evive.cc

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2. Pick and Place Robo�c Arm This is a four degree of freedom robo�c arm capable of picking and placing small objects. With medium sized links, the robo�c arm can fit perfectly on your table top, use the clip to a�ach it to your table or use screws if you’re comfortable with drilling holes.

Assembly Instruc�ons: 0. The steps to assemble a Pick and Place Robot remain the same as that of

Sketching robot �ll you get this arrangement, i.e. step 15.

1. Push the servo in the slot provided on the racquet shaped link 2 as shown and fasten it using M4 bolts of 16mm length and M4 nuts. No�ce the difference between this step and what we did for the sketching robot.

2. Place this on the part you have already assembled (step 0) and fasten using

M3 bolts of 8mm length.


Robotic Arm

This is how our first link will look once the Racquet-shaped links have been assembled. The head of the Servo points upwards.

3. Take the supporting link and a�ach a servo horn to it as shown. Fasten the

horn with M2 bolts of 8mm length.

4. Fit the servo holder into the rectangular slots provided on the supporting link. Refer to figures below to iden�fy rectangular slots to fix the holder.

5. Insert M3 nuts into the slots provided in the servo holder and fasten with

M3 bolts of 8mm length. Refer to the figure below.

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6. Slide the micro servo into the servo holder as shown and then fix it in place using M2 bolts of 12mm length.

While making the Sketching Robot we attached a pen holder to micro servo through a horn. This time we will attach a gripper to it. The following steps elucidate how to assemble the Gripper.

7. Insert another micro servo into the slot on the gripper plate as shown, then affix it there using M2 bolts of 8mm length and M2 nuts.

8. Fasten 15mm standoffs to the plate using M3 bolts of 8mm length.

9. Insert gripper part 1 into the thin slot provided on the gripper plate. Note that this part is not symmetric and the small square slots are nearer to one end than to the other. Do insert this in the exact configura�on as shown in the figure.

Observe how the square holes are further away from the plate compared to the other end of gripper part 1.


Robotic Arm

10. Slide gripper part 2 (with a thin slit) onto the protrusion on gripper part 1.

11. No�ce that gripper part 2 has holes 3mm in diameter so that threaded part of standoffs may pass through it. Fasten these parts using M3 nuts.

12. Insert gripper part 3 into the rectangular holes of gripper part 1 as shown and place M3 nuts and fasten using M3 bolts of 12mm length.

13. Now a�ach a micro servo horn on gripper part 3 with its holes aligned with the holes on gripper part 3 and fasten with self-threading M2 bolts of 8mm length (from micro servo accessories).

14. Bring together gripper claw 1,

gripper link and a one sided micro servo horn in the configura�on shown. First, fasten gripper link to the one sided micro servo horn using self-threading M2 bolt from micro servo accessories. Keep in mind, protruded end of servo horn should be facing the servo.

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15. Next, insert the M3 bolt of 12mm length to gripper claw 1 as shown. Hold the “gripper link and servo horn” assembly intact. Then insert gripper link 1 onto this bolt and fasten an M3 lock nut on the same. Ensure than the links are movable about the bolt but they shouldn’t be too loose.

16. Now lock the one sided micro servo horn and the free servo head using the self-threading bolt from micro servo accessories. Ensure the micro servo is at 90 degrees before assembling (step 14 from from #1).

17. Now, note that there is a free hole on gripper plate and that gripper claw 1 is in front of the other hole. Intui�vely, place gripper claw 2 on the other hole. Now M4 bolts of 16mm length in both these holes and fasten using M4 lock

nuts. Keep in mind that claws aren’t too loose but are free to rotate

about these bolts. Rejoice! For the most sophisticated part is complete!


Robotic Arm

18. As you can see from the figure above, the micro servo horn on the assembly is s�ll free. We le� a micro servo head free too in step 6, where we started making the gripper. Use bolts from micro servo accessories to lock both of

these together (ensure micro servo is at 90 degrees before fixing, refer step 14 from #1), hence fixing

the gripper to the supporting link through the micro servo.

19. Now, a�ach 20mm standoffs to supporting link and fasten M3 bolts of 8mm length, subsequently bring link 2, align it with the standoffs and fasten M3 bolts of 8mm length.

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Now, we have assembled the second link with the gripper. All that remains now is to attach this with the first link.

20. Now, set the servo angle to 180 degrees (refer step 14 from #1). Recall from step 3 that there is another horn at the bo�om of the supporting link which has to be connected to a servo head. Also, recall that there is a free servo head (step 1) in the first link. Simply lock the two with a bolt from

servo accessories and the robot will be complete.

Say HELLO to your own crane and lift your Lamborghini!


Robotic Arm

Basic Circuit:

Note: Ensure that all the servos are properly connected and there are no loose wires, this might otherwise effect performance of the arm during opera�on. Use cable �es for wire management.

Your robot is ready to program. Visit the following link or scan the given code to learn how to program your robo�c arm: h�p://bit.ly/eviverapickplace


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3. Pick & Place Robot with a ‘Twist’ This version of a four degree of freedom pick and place robot will allow you to re-orient picked objects. The assembly instruc�ons are very similar to the robot above, with some adjustments. With medium sized links, the robo�c arm can fit perfectly on your table top, use the clip to a�ach it to your table or use screws if you’re comfortable with drilling holes.

Assembly Instruc�ons: 0. The steps to assemble this robot remain the same as that of previous pick

and place robot �ll you reach step 3. 1. Insert a micro servo into the rectangular slot provided in the supporting link

in the orienta�on shown a�er fixing 20mm standoffs as shown M3 bolts of 8mm length from below (like step 19 from #2). Note the difference, we are not using servo holder this �me instead we

are sliding the motor headways into the slot. Now fasten it M2 bolts of 12mm length and M2

nuts.

2. Place link 2 on top of the standoffs and fasten M3 bolts of 8mm length (like step 19 from #2).

3. Par�ally disassemble the gripper (step 7 to step 17 17 from #2) by removing gripper part 1, gripper part part 2, gripper part 3 and the micro servo horn.


Robotic Arm

4. We will no longer be using gripper part 3, set it aside. Also, a�ach micro servo horn to gripper part 1 M2 bolts of 8mm length as shown.

This schematic only shows the orientation of the remaining gripper, gripper part 1 and gripper part 2

when the final assembly will be carried out. Don’t assemble them as of now but keep this orientation in mind.

5. Take the “gripper part 1 and micro horn” assembly and a�ach it to the second link by locking with an M2 bolt from servo accessories. Ensure micro servo angle at 90dfg 90 degrees before assembly (refer step asfds 14 from #1).

6. Now take remaining gripper and gripper part 3. Keep in mind the orienta�on discussed above and bring them in

those orienta�ons sliding them into relevant slots and fastening with M3 nuts.

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7. Lock the servo horn and the free servo head using bolts provided with servo accessories (the free horn is below the supporting link) (refer to step 20 from #2).

Enjoy your pick, twist, place routine!

The circuit diagram is same as pick & place robot #2. Your robot is ready to program. Visit the following link or scan the given code to learn how to program your robo�c arm: h�p://bit.ly/eviverapicktwist


Agilo Reseach Private LimitedAhmedabad, Gujarat, India - 380009

[email protected]+91-8726 533 960, +91-8765 696060

Explore more at learn.evive.cc

Power SupplyVariable Supply5V | 3.3V

USB

Power In

Power

Variable Supply Control

I-V Sensing Channel

Status Indicators

Shield stackArduino GPIO

Communication HubWiFi | XBee | Bluetooth

Micro SD Card

Buzzer

Touch Sensors

Tiny Breadboard

Power & ChargingIndicator

TFT Screen

Arduino MEGA 2560 R3

Li-ion Battery

Hardware InteractionTactile & Slide Switches Joystick | Potentiometers

Real Time Clock

Plug & Play Hardware InterfaceMotors | Steppers | Relays |

Servos | Motor Drivers

Digital to Analog ConverterI/O 3.3V

Data Acquisition Channels

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