3 DoF Robotic Arm (Class Project)

For a small project in robotics class we were tasked with making a 3DoF arm. I wanted to challenge myself and set a timer for 4 hours of CAD design. This was the result.

The constraints were that it must have two revolute joints and one prismatic, so I used a rack and pinion.

I wrote the inverse kinematics and controlled the system via an ESP32. The ESP32 hosts a local webpage with a graphical interface of the reachable workspace. The user can click anywhere within the space to move the arm to that position. I added motion planning by allowing positions to be recorded and replayed in a sequence. I was responsible for the entire project from concept to end, including design, electronics, and coding.