Meet Actual Robotic One V2: A mini DIY industrial robotic arm

Began in 2022 as an exploration of what’s attainable within the area of DIY robotics, Pavel Surynek’s Actual Robotic One (RR1) venture is a fully-featured 6+1-axis robotic arm primarily based on 3D-printed components and extensively obtainable electronics. The preliminary launch was constructed with PETG filament, customized gearboxes for transferring the motor torque to the actuators, and a plethora of stepper motors/shaft-mounted encoders to offer closed-loop management.

The teachings discovered from V1 have been instrumental in serving to Surynek design his subsequent iteration of the RR1 venture, together with improved movement, rigidity, and management schemes. Changing the extra versatile PETG filament is a far stronger polycarbonate composite which aided in lowering backlash within the gearing. Past the plastic housing, Surynek additionally swapped the planetary gearboxes for a collection of belt-driven mechanisms in addition to moved the encoders to the perimeter of every joint to get higher positional monitoring. The final main change concerned printing the gripper in TPU and securing it to the wrist meeting with extra factors of contact.

Controlling all seven stepper motors is an Arduino Due, which talks to the host machine utilizing its serial USB connection and a customized GUI. It’s by means of this interface that every joint might be configured, set, and constantly monitored, thus giving a complete technique to function the arm.

For extra details about revision 2 of the Actual Robotic One venture, watch Surynek’s video beneath!