1. Flagship Robotic Arm Builds
DIY Arduino Robot Arm with Smartphone App Control
A 5-degrees-of-freedom robotic manipulator driven by MG996R and SG90 servo motors. Controlled via Bluetooth (HC-05 module) from a custom MIT App Inventor Android application. Features a built-in "Record & Playback" routine where users teach waypoints manually and the robot loops the recorded trajectory autonomously.
// Recorded positions array: [servoIndex][waypointIndex]
int servoPositions[5][50];
int recordedSteps = 0;
void playbackRoutine() {
for (int step = 0; step < recordedSteps; step++) {
s1.write(servoPositions[0][step]);
s2.write(servoPositions[1][step]);
s3.write(servoPositions[2][step]);
s4.write(servoPositions[3][step]);
s5.write(servoPositions[4][step]);
delay(400); // Inter-step interpolation delay
}
}
SCARA Robot Arm (Selective Compliance)
Parallel-axis 3D printed arm powered by NEMA 17 stepper motors and GT2 timing belts. Provides rigid vertical compliance with high horizontal dexterity for fast pick-and-place and laser engraving.
2. Mobile Robots & Legged Platforms
Mecanum Wheels Omnidirectional Robot
Four independent 45° angled roller wheels driven by N20 or stepper motors. Enables instantaneous holonomic movement (translation in X and Y simultaneously while rotating theta).
Ant Hexapod Walking Robot
A six-legged walking robot using 18 micro servos (3 DOF per leg: Coxa, Femur, Tibia). Uses inverse kinematics for tripod gait walking, body posture roll/pitch leveling, and terrain adaptation.
DIY Mars Perseverance Rover Replica
Scale replica of NASA's Mars rover featuring a functional Rocker-Bogie suspension system that climbs over rocks double the wheel diameter without tipping.
3. Precision Mechanical Drives
- Harmonic Drives (Strain Wave): 3D printed elliptical wave generator and flexible spline yielding zero-backlash 50:1 gear reductions for robot joints.
- Cycloidal Drives: Pin-wheel epicycloidal reducer offering massive torque resistance against shock loads.
- DIY Arduino RC Transmitter: Custom dual-gimbal joystick controller using the nRF24L01+ 2.4 GHz transceiver module for wireless robot teleoperation.