Personal Project

5-Axis Robotic Arm

A servo-powered robotic arm with a direct, smaller-scale replica controller — designed, printed, and wired from scratch.

Project Goals

Robotic arm CAD render, front view, black background Robotic arm CAD render, angled view, black background Robotic arm CAD render, side view, black background

Initial Design on SolidWorks

Created an initial CAD prototype based on the MG996R servo motors and prepared each section for initial print.

Base pivot CAD design Base pivot CAD design, cutaway slicer view showing the internal bearing ring
Base Pivot
Middle joint CAD design Middle joint CAD design, alternate angle showing the servo motor
Middle Joint
Arduino and breadboard wiring diagram for the potentiometer and servo Breadboard and wiring setup on the desk, connected to the Arduino and servo driver board

Wiring & Arduino

Currently working on the wiring and Arduino program. The goal is to link the potentiometer rotation with the servo rotation with minimal delay, while adding 4 more servos controlled by separate potentiometers.

First prototype notes

3D model and printing

  • Increase the tolerances for each part — fast, low-quality prints caused joints to grind together
  • Increase wall width to 3 mm for structural stability
  • Add indents for screw heads so there is no interference during movement
  • Better align wire slots for smoother assembly and movement

Arduino

  • Individually adjust each servo range once the arm is assembled
  • There is not enough current to power five servos

Revised Design

3D model and printing

  • Simplified design to single-shear joints for easy assembly and increased tolerances
  • Added countersinks
  • Changed base design for better stability

Arduino

  • Added 2200 μF capacitors to minimize voltage fluctuations when 5 servos are activated
  • Cleaned up and streamlined the wiring to have a common ground for the system