6-axis arm for proof of concept. The robot is an enabler to develop competencies in mechatronics and programming.
Very small with low payload; the model will be scalable once software is ready.

Mk2 frame will be entirely bespoke, primarily constructed using 3D-printed components. Steppers will be replaced with brushless DC motors; higher speeds will permit use of transmission for increased torque and low/zero backlash.

Construction

• Main links constructed with standard LEGO technix parts and connections
• Motor mounts are bespoke designs and 3D-printed to fit
• Transmission is uing GT2 belts, standard LEGO Technic gears replaced with bespoke designed and 3d-printed parts (to minimise backlash)
• Interchangeable gripper; pilot with 2-finger gripper (SG90 servo for actuation)

Hardware

• Raspberry Pi Model B Rev 2.0 for processing (Python)
• Arduino MEGA for hardware control (C++)
• 28BYJ-48 12V stepper motors for power, one per axis (azis_2 uses 2x motors to deliver appropriate torque); limit switches for homing
• A4988 motor drivers
• 2MP camera for 2D computer vision

Software

• OpenCV for vision processing