Equipment
The following parts are needed to build one follower arm and one leader arm. The arms are adapted from Alexander Koch's low-cost robot arm designs.
Follower Arm
Electronics
| Part |
Quantity |
Link |
| Dynamixel XL430-W250-T Servo |
2 |
Robotis |
| Dynamixel XL330-M288 Servo |
4 |
Robotis |
| XL430 Idler Wheel |
1 |
Robotis |
| XL330 Idler Wheel |
3 |
Robotis (sold in 4-packs) |
| Waveshare Serial Bus Servo Driver Board |
1 |
Waveshare |
| Waveshare OV5693 5MP USB Camera |
1 |
Waveshare |
| Voltage Reducer |
1 |
Amazon (sold in 4-packs) |
| 12V Power Supply |
1 |
Amazon |
| USB-C Cable |
1 |
Amazon (sold in 2-packs) |
Hardware & Miscellaneous
| Part |
Quantity |
Link |
| Table Clamp |
1 |
Amazon |
| Nylon Screws and Nuts |
a few |
Amazon (100-pack) |
| M2 x 8mm Phillips Machine Screws |
a few |
Amazon (100-pack) |
| Dupont Wires (Female to Male) |
a few |
Amazon |
| Rubber Sheet (for gripper) |
1 |
Amazon |
| Velcro Cable Ties |
a few |
Amazon (150-pack) |
3D Printed Parts
The following parts need to be printed. STL files are available in the repository.
Leader Arm
Electronics
| Part |
Quantity |
Link |
| Dynamixel XL330-M077 Servo |
6 |
Robotis |
| XL330 Frame |
1 |
Robotis (sold in 4-packs) |
| XL330 Idler Wheel |
3 |
Robotis (sold in 4-packs) |
| Waveshare Serial Bus Servo Driver Board |
1 |
Waveshare |
| 5V Power Supply |
1 |
Amazon |
| Dupont Wires (Female to Male) |
a few |
Amazon |
Hardware
| Part |
Quantity |
Link |
| Table Clamp |
1 |
Amazon (sold in 8-packs) |
3D Printed Parts
The following parts need to be printed. STL files are available in the repository.