https://github.com/jonathanhliu21/arm_drawer

A robot that draws contours of images
https://github.com/jonathanhliu21/arm_drawer

Last synced: about 2 months ago
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A robot that draws contours of images

• Host: GitHub
• URL: https://github.com/jonathanhliu21/arm_drawer
• Owner: jonathanhliu21
• Created: 2023-07-06T03:41:51.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2024-05-24T01:04:06.000Z (8 months ago)
• Last Synced: 2024-06-21T22:29:25.323Z (7 months ago)
• Language: C++
• Homepage:
• Size: 853 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Arm Drawer Robot

![Picture of Arm Drawer Robot](https://github.com/jonyboi396825/arm_drawer/assets/81734282/fd13a4c9-189e-4ef2-9598-7a04fe91d579)

Inspired by 2023 FRC competition cone-placing arm mechanism, I made a robot

arm that can draw the outlines of any digital image, wanting to explore the ideas of robot arm performing human-like tasks.

## Components

- Arduino Nano

- 3 MG995 high-torque servos

- 1 SG90 low-torque servo

- HiLetgo MicroSD Card Reader

- Sharpie

- Tactile push button switches

- Breadboard

- Jumper Wires

- 3D-printed PLA Parts 

## Design and Functionality

To mimic the human arm, this robot has two joints controlled and a rotatable base controlled by three high-torque servos, as well as a low-torque servo on the end effector to make sure that the pen draws perpendicular to the ground.

I used OpenCV to process contours from JPG or PNG images on a local computer. Using the contours, the program calculates the trajectories arm. These trajectories are then saved on a SD card. The Arduino uses an SD card reader to read the paths from the files saved onto the SD card. The Arduino uses inverse kinematics to determine the angles of the servos and speed calculations to ensure smooth and linear movement.