Project Strong Arm

The aim of this project is to design a 3 degree of freedom Robotic arm for use as a peripheral Stride Master Robot Platform module for deployment on the Project Stride Master Robot.

The arm is controlled by an Arduino Uno Microcontroller of which communicates with the Stride Master Robot via using a 3 Digit Binary Data Communication System and is powered via a 5V DC input.

The robot utilizes 4 35 gram servos for actuation and the entire arm was designed in Fusion 360 and 3D printed in PLA Plus material.

There are two main modes of control; Continuous Input, where positioning data is constantly supplied to the Arm, allowing for the fluid motion of the arm and Command Input, where via specific inputs, the arm is moved to specific positions within its range of motion.

Communication between the Stride Master Robot and the Strong arm is achieved via the aforementioned 3 Digit Binary Data Communication System. A four-channel wire connector is connected to the digital pins between the robots, which can occupy and read respectively either an ON or OFF state. Three channels are used as binary digits and each sequence of digits correspond to a different command as shown below, allowing for the aforementioned inter-module communication. The fourth channel serves as a check channel, giving the receiver board a "Heads up" that a command will be issued and to await such command.

As to improve the overall functionality and longevity of the Robotic Arm the following improvements are being considered:

Firstly, The use of machine bearings will be employed in the stead of 3d printed Bearings to decrease axial play within the arm.

Secondly, stepper motors in addition to a Harmonic Drive Assembly, increasing the Robots precision and maximum operational load. The added weight and power requirements of such a design will be taken into consideration upon the design of the next iteration of the Stride Master Robot.

Lastly, the arm will be printed in PLA plus instead of PLA in future revisions to improve the maximum structural load that can be supported by the arm.