Robotic Arm

What & How We Did It: . Design and 3D print the components for the 2-DOF robotic arm. 2. Assemble the arm, connecting the servo motors and LED end effector. 3. Derive and implement the inverse kinematics equations to control the arm’s motion. 4. Create a 2D model to analyze and visualize the arm’s motion range and joint limits. 5. Select a shape to draw and calculate the corresponding x and y coordinates for each point along the path. 6. Program the arm’s motion, integrating the inverse kinematics calculations with the coordinate data. 7. Test and refine the system until the arm successfully draws the desired shape using long-exposure photography.

Learnings & Contributions:
Sam Bronstein made the CAD Model, while I worked on the programming of the arm. We both helped with the assembly of the arm. For future improvements, we would play around longer with the angles of the servo motors and the mapping of the path of the arm. We could potentially explore other ways of mapping the path, besides creating a 2D sketch and positioning the points one by one.