Configurable Manipulator with Open-Source Control

Configurable Manipulator with Open-Source Control

Robotic arms democratize automation for small-scale manufacturing and research. This project constructs a four-axis articulated manipulator using standard servo motors and 3D-printed structural links. The control framework runs on an Arduino Mega, interpreting serial commands from a host computer or direct joystick input. Forward and inverse kinematics routines enable both joint-space and task-space programming modes. A teach-pendant interface allows operators to manually guide the arm through desired trajectories, recording joint angles for subsequent playback. The gripper accommodates interchangeable fingers for handling diverse object geometries. Safety interlocks include current-limiting servo drivers and software emergency stops triggered by workspace boundary violations.

Components

Arduino Mega
MG996R Servo Motors (4)
3D Printed Links
Joystick Module
Power Supply 12V
Serial Communication Interface