Drawing Robot Arm | Team 004-2 | ECE342-W23

Python
3D Printing
Arduino
PCB
Robotics

We developed a robotic arm that can draw pictures on an 8.5” x 11” area. A user could control the arm through a Python GUI and switch the writing tool. - The GUI had buttons and a command line for controls, and sent G-Code to the Arduino. - The Arduino used inverse kinematics to calculate arm movements, and sent signals to the Stepper Motor drivers. - The Stepper Motors turned belts that then turned the arms. - The Writing Tool was lifted by a servo, tensioned to push against the writing surface by a rubber band, and held in place by a clamp. While inverse kinematic Arduino code existed, we developed our own. The robotic arm was specifically a Selective Compliance Articulated Robot Arm (SCARA), with two rotating XY joints and one rigid Z joint. For future improvement: - Run an uploaded G-Code file. - Use image processing to scan an image that is either uploaded or drawn in the GUI, then create G-Code and redraw the image.

2 Lifts 

Awards

Artifacts

Name Description
GUI Python Code GUI Python Code   Download
GUI CSS Code GUI CSS Code   Download
FAQ FAQ   Download
Project Summary A video giving a summary of the overall project.   Link