This low-cost robotic manipulator has been developed and implemented within four months as part of my bachelor thesis for the study course “Robotics and Automation” at University Heilbronn. I worked at this project from November 2018 until February 2019 at Innok Robotics Ltd in Germany. The ASME-MRB servo motor has been deployed in all of the four robot joints. But these servos could only muster less than about half of the specified torque of about 37,28 Nm without damage.
I designed the robotic arm in Fusion 360 and used ROS MoveIt! to calculate the robot’s motion with its inverse kinematics solver. The ROS environment running on the pc commuincates via a serial interface with the arduino, which is receiving the desired target angle for each axis.