TokyArm

Beginner Level Robotic Arm

The TokyArm is a project utilizing the Tokymaker to replicate a human arm. The Tokymaker with a couple of servo motors and rotation sensors can create a simple robotic arm that can pick up light items.

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Video

Music from: www.bensound.com

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Complexity

Description

Wish you had a third arm? Want to play with robotics? With the TokyArm you can have your own simple robotic arm.

We are going to replicate the motion of a human arm using 3 potentiometers as the inputs and 3 servo motors as the outputs. You can use the potentiometers to control the servo motors and have the arm pick up and move things around.

Materials & Tools

Tokymaker

Learn to code your own prototypes using the simple visual coding interface and just one finger and program it without installing software or connecting cables. Understand the principles of operating system electronics connecting in the most intuitive way, a large variety of sensors and actuators.

Rubber Band

An elastic band used to hold multiple things together.

Rotating Potentiometer

Rotating potentiometers provide a range of electrical charge. Rotating the potentiometer will allow an adjustable range of control. Examples can be volume or position controls.

Screwdriver

A tool used to secure screws in place. Usually comes with a flattened or cross-shaped head.

 

Robotic Arm Package

An acrylic set of robotic arm pieces. Comes with screws, hex nuts, and servo motors to be assembled to create a robotic arm.

Cardboard

Heavy-duty paper with multiple layers to create durability, but also maintaining foldability. Cardboard usually made of a corrugated fiberboard sandwiched between two flat layers of paper.

Templates

Templates for the TokyArm can be downloaded in the links below:

Assembly Instructions

Step 1: Download and print the TokyArm templates.

Step 2: Cut out the shapes onto cardboard.

Step 3: Start assembly of the Arm with the side to side rotation part.

For assembling the Arm part, be wary of the range of the servo motor and at which position you secure the servo motor to the servo horn. Always test the range the servo motor can move before securing it with a screw.

Secure the servo motor using a screw and hex nut.

Secure the servo horn to the square piece with washer head screws. Screw into the third hole from the center on both sides. This part maybe a bit tricky.

Secure two coupling nuts with pan head screws in the two round holes.

With another servo motor, secure it in the center with a short screw to the piece with the servo horn attached.

Place a screw in the first hole. This screw will help secure another part of the Arm later.

Secure all the pieces. You will need to screw the pan head screws into the coupling nuts, as you did for one side before, you need to do with the other.

Note: The part with the screw should align with the servo motor shaft.

Step 4: Assemble the forward and backward rotation part.

Take another servo motor and attach it to the rectangular piece with two screws and hex nuts.

Attach another servo horn with washer head screws. The screws should be attached to the third hole from the center on both sides.

Attach the rectangular piece to the side to side rotation part with a small screw in the center.

Attach two long coupling nuts with two screws in the two holes provided.

Place the servo motor in between the two long coupling nuts.

Secure the other side with two pan head screws into the coupling nuts. Also this is where the screw from the side to side rotation part is secured with a hex nut.

Step 5: Assemble the tilt rotation part.

Note: Since we’re using the three input/output Tokymaker, we will not connect this part to the Tokymaker, but leave the wire open-ended. For the five input/output Tokymaker, feel free to connect the tilt function.

Connect another servo horn to the square piece with washer head screws. The screw should be placed in the third hole from the center.

Attach the piece to the forward and backward rotation part. Use the small screw to attach in the center of the servo motor.

Attach the coupling nuts with screws to the square piece in the holes provided.

Attach another servo motor with two screws and hex nuts in the holes provided.

Attach the coupling nut with screw with a hex nut to the hole provided.

Attach the pieces together. Secure with two screws into the coupling nuts.

Step 6: Assemble the grippers.

Secure the coupling nut with screw using a hex nut.

Use the coupling nut with screw and secure the gripper with a gear to the shorter gripper.

Secure another small gripper with screws into the coupling nut.

Wrap a rubber band to the ends of the teeth.

With the other gripper with a gear, attach a servo horn with washer head screws. The screws should go into the 4th hole from the center on both sides.

Like the other gripper, attach two small grippers using coupling nuts with screws and a hex nut to secure them. Wrap a rubber band at the ends of the teeth.

Attach the gripper with the servo horn to the tilt rotation part with a small screw at the center of the servo motor.

Sandwich the other gripper between the alignment piece. Place a screw through the piece.

Slide the attachment piece in between the other gripper. Screw the gripper with the alignment piece to the coupling nut in the tilt rotation part. Try to match up the gripper spacing between each other.

Step 7: Attach the Arm to the Base.

Fold the Base.

Slide the bottom servo motor through the hole in the Base. Secure with two screws and hex nuts.

Step 8: Assemble the Contoller.

Slide the rotation sensors into the slots.

Thread the wires through the holes and connect to the rotation sensor.

Step 9: Attach the Tokymaker.

Step 10: Connect the sensors to the Tokymaker.

Run the wires through a rubber band on both sides.

Connect the sensors to the Tokymaker. Make sure you connect ground (GND) to the negative pole (-).

Note: For the servo motor, the brown wire should be connected to the negative pole.

Step 11: Add the finishing touches to the TokyArm.

Wrap the rubber bands around the Base.

Attach a rubber band to the end of the Base with a slip knot.

Unscrew one side of the forward and backward rotation part. Slide the rubber band through the lower coupling nut.

Note: Don’t forget to re-screw the forward and backward rotation part.

Now let’s connect the Tokymaker to Bluetooth and work on the code!

Go To Shop

Purchase different sensors and accessories in the shop to help make your project a success!

TokyProject Designers

Mendy Yu

Tokymaker Shifu Joined the TokyLabs team summer of 2018 for a summer internship. Student at Rochester Institute of Tehcnology studying mechanical engineering. Hobbies: Puzzles, Arts&Crafts