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4DOF Arduino Robot Mechanical Arm Kit Tutorial

Posted by Fiona Su on

4DOF Arduino Robot Mechanical Arm Kit Overview

How to DIY a robotic arm to complete multiple movements? Cool.With this keyestudio robotic arm kit, you are able to DIY your own controllable mechanical arm using Arduino microcontroller. It uses REV4 and 2 JoyStick modules to control the angle degree of 4 servos.
When DIY this 4DOF robot arm kit, you could get everything needed for arm installation and debugging.
There are 3 controlling methods are as follows:
1) Controlling through Wired JoyStick (included in the robot arm kit);
2) Phone Bluetooth Controlling (note: HC-06 Bluetooth module Not Included, only provide the test code for Bluetooth and APP for Android phone);
3) Wireless PS2 JoyStick Control (PS2 JoyStick module Not Included, we only provide the test code.)
You are able to get all related information in the Arm kit.
Take your brain on an inspiring journey through the world of programming. Get started now!

Features

You can check out these features:

  • Detailed installation instructions
  • Detailed debugging methods, starting Arduino from entry.
  • Three controlling methods: Wired JoyStick Control; Phone Bluetooth Control; Wireless PS2 JoyStick Control.

The parameters of keyestudio TB6612FNG motor/servo drive expansion board are as follows:

  • VIN voltage: VIN = DC 7-15V
  • VIN current: 5A
  • Two-way 5V output: 5V/3A
  • TB6612FNG: VIN input DC 7-15V; average drive current 1.2A; peak current 3.2A
  • PS2 interface: compatible with Sony PS2 receiver, can be plugged directly into the expansion board.
  • Dimensions: 73*53.34mm

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Shipping List

No.
Component
Quantity Picture
1
Keyestudio REV4 Main Board
1
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2
keyestudio TB6612FNG motor/servo drive shield
1
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3
MeArm T=3MM Black Acrylic panels
1  
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4
MeArm T=3MM Black Acrylic handle
1
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5
MeArm Black ABS Cylindrical holder Diameter 42mm
1
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6
Black 180° Servo
4
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7
Keyestudio Bluetooth Module-(HC-06)
1
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8
Keyestudio Joystick Module
2
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9 3D PS2 Joystick cap 2
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10 Yellow-black handle 3*40MM Phillips Screwdriver 1
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11 Galvanized M2+M3 2mm thin double-headed small wrench 1
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12 M3*6MM round-head cross screw 12 thumbthumbthumbthumb
13 M3*10MM round-head cross screw 22
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14 M3*14MM flat-head screw 2
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15 M3*12MM round-head cross screw 12
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16 M3*24+6MM copper pillar 4
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17 M3*6mm+6mm copper pillar 10
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18 M3 Stainless steel Hex Nut 22
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19 M3 hexagon Lock Nut 24
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20 M1.2x5MM Phillips tapping screw 8
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21 M2x5MM Phillips tapping screw 10
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22 M3 304 Stainless steel flat washer 3*7*0.5MM 10
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23 M2x8MM Phillips tapping screw 2
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24 M3*16MM flat-head screw 2
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25 Male to female 10CM jumper wire 4
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26 female to female 50CM jumper wire 10
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27 Black 3*100MM cable ties 1
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28 18650 dual-cell battery case with plug lead 15CM 1
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Assembly Guide

Follow the assembly steps below to build your own robot arm, believe you will be full of delight to experience the robot arm DIY. If still confused, you can refer to the assembly video.

Step1: Begin with the Baseplate Assembly

(1) Firstly, you should prepare the components as follows:

  • M3*30+5MM single-pass copper pillar *4
  • M3*6mm+6mm single-pass copper pillar *4
  • M3 Hex Nut *8
  • Black Acrylic plate *1

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Then, screw the copper pillars with M3 hex nuts on the black Acrylic baseplate.

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(2) Then install the control board, and prepare the components as follows:

  • M3*6MM round-head screw *3
  • Keyestudio REV4 board *1
  • keyestudio TB6612FNG motor shield *1

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Firstly, screw the REV4 board on the pillar using three M3*6MM round-head screws.

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Then stack the motor drive shield onto the REV4 board.

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(3) Completed the above assembly, let's mount the Pivot Servo Plate onto the base.

  • M3*12MM round-head screw *2
  • M3 hex lock Nut *2
  • Black 180° servo *1
  • Acrylic plate * 4

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Note: before install the servo, should set the servo angle to 80 degrees.
To set the servo angle, first connect the servo to A0 of motor shield, upload the code below to REV4 board, powered on, press the reset button, servo will rotate to 80°.

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Code for 80° Servo:

int servopin=A0;//Define digital interface A0 to connect servo steering gear signal line
int myangle;     //Define angle variables
int pulsewidth; //Define pulse width variables
void setup()
{
pinMode(servopin,OUTPUT); //Set steering gear interface as Output 
} 
void servopulse(int servopin,int myangle) //Define Function
{
pulsewidth=(myangle*11)+500; //Converts the Angle to a pulse width value of 500 - 2480
digitalWrite(servopin,HIGH); //The steering gear interface level is high
delayMicroseconds(pulsewidth); //The microsecond number of the delay pulse width value
digitalWrite(servopin,LOW); //Turn the steering gear interface level to low
delay(20-pulsewidth/1000);
}
void loop()
{
servopulse(servopin,80); //Set steering gear Angle
}

//0 Degree Code: 
//		servopulse(servopin,0); 
//80 Degree Code: 
//		servopulse(servopin,80); 
//180 Degree Code:
//		servopulse(servopin,180); 

 

Note:
Set well the servo angle and complete the below servo base plate assembly, power off the servo to avoid the angle error and make sure the servo can rotate freely. Don’t over-tighen the screws.

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Adjusted well the servo motor, start to install the Servo Base Plate. Follow the marks.

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Firstly mount the acrylic plate ② to the servo motor.

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Then mount the two acrylic plates ④ to the servo using two M3*12MM round-head screws.

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After that, screw the acrylic plate ⑤ to the servo using two M3 hex lock Nuts⑥.

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You should get the detailed view shown below (pay close attention to red mark).

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You should get the complete Servo Base Part.

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(4) Now you should install the Servo Base part to the Base Plate:

  • M3*6MM round-head hex screw *4

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Install the Servo plate to the Base Plate using four M3*6MM round-head hex screws.

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Step2: Assemble Arm Middle Parts
(1) In the following section, assemble the Left Arm Servo Plate. Prepare:

  • M3*12MM round-head screw *2
  • M3 hex lock nut *2
  • M2x5MM Phillips tapping screw *1
  • M2x8MM Phillips tapping screw *1
  • Black 180° servo *1
  • White servo mount *1
  • Acrylic plate *5

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Note: before install the servo plate, should set the servo angle to 180 degrees. The method is the same as 80° servo settings mentioned above. You just need to change the servopulse(servopin,80) into servopulse(servopin,180) in the code.

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Now assemble the Left Arm Servo Plate as below. (pay close attention to servo direction, rocker connected to servo and marked position)

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Firstly mount the acrylic plate ② to the Left servo motor.

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Second, mount the two acrylic plates ④ to the servo using two M3*12MM round-head screws③. You can get the Left servo plate shown below.

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Then screw the Left servo plate to acrylic plate ⑤ using two M3 hex lock Nuts⑥. Get the Left servo base plate shown below.

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After that, screw the acrylic plate joint and white servo mount ⑦ to the Left servo base plate using a M2x8MM tapping screw and a M2x5MM tapping screw⑧.

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Finally you should get the complete Left Arm Servo Plate. Shown below.

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(2) We will now attach a servo mount to the Arm Bottom Plate.

  • M2x8MM Phillips tapping screw *2
  • White servo mount *1
  • Acrylic bottom plate *1
  • Black Cylindrical holder *1

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Fix the white servo mount and black Cylindrical holder on the acrylic plate using two M2x8MM Phillips tapping screws.

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(3) Completed the above assembly, move on to the Right Arm Servo Plate.

  • M3*12MM round-head screw *2
  • M3 hex lock nut *2
  • M2x5MM Phillips tapping screw *1
  • M2x8MM Phillips tapping screw *1
  • Black 180° servo *1
  • White servo mount *1
  • Black Acrylic plate *5

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Note: before install the servo, should set the servo angle to 0 degrees. The method is the same as 80° servo settings mentioned above. You just need to change the servopulse(servopin,80) into servopulse(servopin,0) in the code.

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Now assemble the Right Arm Servo Plate as below. (pay close attention to servo direction, rocker connected to servo and marked position)

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Firstly mount the acrylic plate ② to the Right servo motor.

Second, mount the two acrylic plates ④ to the servo using two M3*12MM round-head screws③.

Then screw the Right servo plate to acrylic plate ⑤ using two M3 hex lock Nuts⑥.

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After that, screw the short acrylic plate joint and white servo mount ⑦ to the Right servo motor using a M2x8MM tapping screw and a M2x5MM tapping screw⑧.

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Finally you should get the complete Left Servo Plate. Shown below.

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(4) Next install the Servo Wrist Joint.

  • M3*10MM round-head screw *1
  • M3 hex lock nut *1
  • Acrylic plate*2

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Fix the two Acrylic plates together using a M3*10MM screw and a M3 lock nut. You can get the Wrist Joint Plate shown below.

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(5) The above parts are installed well. Mount the Wrist Joint and Left Arm Servo Plate together.

  • M3*10MM round-head screw *2
  • M3 hex nut *2
  • Acrylic plate*1
  • Left Arm Servo Plate
  • Wrist Joint Plate

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Install both Left Arm Servo Plate and Wrist Joint plate to a single acrylic plate using two M3 hex nuts and two M3*10MM round-head screws.

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You should get the complete parts shown below.

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(6) Complete the whole Arm Base Parts.

  • M3*10MM round-head screw *4
  • M3 hex nut *4
  • Acrylic plate *2
  • Arm Bottom Plate⑥
  • Left Arm Servo Plate①
  • Right Arm Servo Plate⑦

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Mount the Acrylic plate ② to Left Arm Servo Plate ① using a M3*10MM round-head screw and a M3 hex nut③.

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Then screw another Acrylic plate ④ to Left Arm Servo Plate ① using a M3*10MM round-head screw and a M3 hex nut.

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After that, snap the Arm Bottom Plate ⑥ between the both side plate of Arm BasePlate.

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At last, mount the Right Arm Servo Plate ⑦ to the BasePlate using two M3*10MM round-head screws and two M3 hex nuts.

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With this step completed, the Arm Base Parts is really starting to take shape!

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(7) Now we should install the Wrist Joint Connector between the Left and the Right Wrist Joint.

  • M3*10MM round-head screw *7
  • M3*12MM round-head screw *1
  • M3 hex lock nut *8
  • Acrylic plate*6
  • Arm Base Parts①

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Fix well the Acrylic plates②③④.

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Then screw them to Arm Base Parts① with 7 M3*10MM screws, a M3*12MM screw and 8 M3 lock nuts. Don’t over-tighten the screws as they serve as pivot points to allow the robot arm to move. (Note: only red circle there use the M3*12MM screw, other wrist joints all use M3*10MM screw.)

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Installed well.

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Step3: Assemble the Claw Servo Plate
(1) We are now on the final stretch, it’s time to work on the claw.

  • M3*16MM flat-head screw *2
  • M3*16MM round-head screw *2
  • M3 hex lock nut *4
  • Black 180° servo *1
  • Acrylic plate*6

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Note: before install the claw servo motor, should set the servo angle to 0 degrees. The method is the same as 80° servo settings mentioned above. You just need to change the servo pulse (servo pin, 80) into servo pulse (servo pin, 0) in the code.

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We will start by mounting the Claw Servo Motor Plate.

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Fix well the Acrylic Plates②③④, and insert the servo motor. Get the servo plate shown below.

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Then tighten a Acrylic Plate ⑤ to the above servo plates using two M3*16MM flat-head screws and two M3*16MM round-head screws and four M3 hex nuts.

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(2) Next is to install the Gripper Plate.

  • M1.2x5MM Phillips tapping screw *4
  • M2x5MM Phillips tapping screw *4
  • White servo mount *1
  • Gripper Acrylic plate *3

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Firstly fix the white servo mount ② onto acrylic plate ① using four M1.2x5MM tapping screws③.

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Then fix the acrylic plate ④ onto another longer acrylic plate ⑤ using four M2x5MM tapping screws.

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(3) Mount the grippers onto the claw servo plate.

  • M3*12MM round-head screw *2
  • M3 hex lock nut *2
  • M3 flat washer *7
  • Servo screw *1①
  • Claw servo plate②
  • Gripper plate③
  • Gripper plate④
  • Gripper Acrylic plate*1⑤

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Place the four flat washers onto a M3*12MM round-head screw connected to the Claw servo plate.

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Then fix a M3 hex lock nut to the Gripper plate③. Next, place the Gripper plate onto Claw servo plate.

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After that, place another Gripper plate⑤ onto Claw servo plate using 3 flat washers and a M3*12MM round-head screw.

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Finally, screw the Gripper plate ④ onto the shaft of servo motor with a servo screw.

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Claw servo plate completed!

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Step4: Final Assembly
(1) Now we will assemble all the finished parts together

  • M3*10MM round-head screw *3
  • M3 hex lock nut *1
  • M2x5MM tapping screw *1
  • Servo Base Plate①
  • Arm Middle Parts②
  • Claw Servo Plate③

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Mount the Claw Servo Plate ③ to Arm Middle Parts ② using three M3*10MM round-head screws and a M3 hex lock nut.

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After that, screw them to Servo Base Plate ① using a M2x5MM tapping screw.

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The robot arm kit is nearly complete! It’s now time to connect the servo to drive shield.
Hookup Guide:

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Step5: Assemble the Joystick Control Plate
(1) The last step is to assemble the Joystick control plate

  • M3*6MM round-head screw *4
  • M3*6+6mm single-pass copper pillar *6
  • M3 hex nut *6
  • Joystick module *2
  • Black Joystick plate *1

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Mount 6 single-pass copper pillars onto Joystick plate with 6 M3 hex nuts.

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Then screw the two Joystick modules onto the Acrylic plate using four M3*6MM round-head screws.

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(2) Finally connect the Joystick module to drive shield using female-to-female jumper wires.

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Hookup Guide:

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Congrats! Your robot arm kit is complete!

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Done wiring, power and program everything up to give your robot arm kit a try!

Tutorial

Buy >> 4DOF Acrylic Toys Robot Mechanical Arm Claw Kit for Arduino DIY Robot

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