Braccio Robotic Arm

The TinkerKit Braccio is a sophisticated and fully operational robotic arm designed to be controlled by an Arduino microcontroller. Developed by TinkerKit, Braccio offers a versatile platform for robotics enthusiasts and professionals alike, providing the flexibility to be assembled in various configurations to perform multiple tasks.

Key Features

Versatile Assembly:

The Braccio robotic arm can be assembled in different ways, allowing it to adapt to a wide range of applications. Whether it’s lifting objects, performing precise movements, or interacting with the environment, Braccio’s modular design makes it capable of handling diverse tasks.

End Effector Support:

The arm is equipped with an end effector that can support various objects, enhancing its versatility. This feature allows Braccio to be used in applications such as picking and placing objects, holding tools, or even performing intricate operations that require precision.

Arduino Controlled:

At the core of its functionality is the Arduino microcontroller, which provides powerful yet user-friendly control over the robotic arm. Using Arduino, users can program Braccio to perform complex sequences of movements and tasks, leveraging the vast ecosystem of Arduino libraries and resources.

Educational and Practical Applications:

Braccio is ideal for educational purposes, allowing students and hobbyists to learn about robotics, programming, and automation. Additionally, it is suitable for practical applications in fields like manufacturing, research, and development where precise robotic manipulation is required.

Assembly Steps

Organize the Components:

• Lay out all the parts and tools. Ensure you have all the necessary components as listed.

Assemble the Base:

• Start by assembling the base of the robotic arm using the provided screws, flat washers, and hexagon nuts. Secure the base firmly as it will support the entire structure.

Attach the Servo Motors:

• Install the SR 431 servos in the base and main joints of the arm. Use the appropriate screws and washers to secure them in place.

• Attach the SR 311 servos in the finer joint areas where precise movements are required.

Connect the Joints:

• Connect the assorted plastic parts to form the arm structure. Follow the instructions to ensure each part is correctly oriented and secured.

• Use the springs in specified joints to provide necessary tension and smooth movement.

Install the Arduino Shield:

• Attach the Arduino-compatible shield to your Arduino board. Connect the servo motor cables to the shield, ensuring each motor is connected to the correct pin.

Organize the Cables:

• Use the spiral cable protection wrap to bundle and protect the servo motor cables. This prevents tangling and damage during arm operation.

Power Supply Connection:

• Connect the 5V, 5A power supply to the Arduino and the servo motors. Ensure all connections are secure and correctly oriented to prevent damage.

Final Assembly Check:

• Go through all the connections and assemblies to make sure everything is tight and correctly positioned. Double-check the alignment of the servos and joints.

With all components properly assembled and connected, the Braccio robotic arm is now ready for programming and operation. Follow the provided software instructions to start controlling the arm with your Arduino, and explore the various configurations and tasks the Braccio can perform. This versatile and educational project provides a hands-on experience with robotics, mechanical assembly, and Arduino programming.

Key Features

Servo Motor Control:

• Connectors M1 to M6: These connectors are labeled and correspond to the six servo motors of the Braccio robotic arm. Each connector is tied to the Pulse Width Modulation (PWM) capable outputs of the Arduino board, facilitating precise control over the servos' positions and movements.

TWI (I2C) Communication:

• 4-pin TWI Connector (Blue): This connector allows the Arduino board to communicate with other devices that support the TWI (Two Wire Interface) or I2C (Inter-Integrated Circuit) protocol. Using the Wire library in Arduino, users can implement communication with sensors, displays, and other peripherals that use the I2C protocol.

Serial Communication:

• 4-pin SERIAL Connector (Yellow): This connector supports serial communication with other devices. It is important to note that the pins on this connector are not labeled. Users should check the continuity between these pins and the shield header pins to identify their functions. Starting from the end near the reset button, the sequence is GND, +5V, TX, and RX. Verifying these pinouts is essential to avoid miscommunications and potential damage to connected devices.

Stackable Design:

• The Braccio Motor Shield is designed to stack directly onto the Arduino UNO or Mega 2560 boards. This stacking design simplifies the setup process and ensures a stable and secure connection between the shield and the Arduino.

Important Considerations

Serial Communication Limitation:

• When using the serial connector for communication, it is not available for sending or receiving data to and from the computer. This limitation can be overcome by using the Arduino Mega 2560, which provides additional TX/RX ports. The Mega 2560 has multiple serial ports (Serial1, Serial2, and Serial3), allowing you to maintain computer communication while also interfacing with other serial devices.

Power Supply:

• Ensure the power supply connected to the shield is adequate to drive all six servo motors. The recommended power supply for the Braccio robotic arm is 5V, 5A, which provides sufficient current for all motors under typical operating conditions.

#include <Braccio.h>

void setup() {

  Braccio.Begin();  // Initialize the Braccio robotic arm

}

void loop() {

  // Set desired positions for each servo motor

  // Adjust the step delay and servo positions as needed

  // Example movement

  Braccio.ServoMovement(50, 90, 90, 90, 90, 90, 90);  

  delay(1000);  // Delay between movements

}