Servo Arm

Designed and built a 6-degree-of-freedom robotic arm, demonstrating multi-axis manipulation and precise servo control.

Key Features & Implementation:

• Mechanical Design: Six joints powered by hobby servos, providing a full 6-DoF range of motion suitable for demonstrations and pick-and-place tasks.

• Control Electronics:

  • Arduino as the central controller.

  • 16-channel servo driver (PCA9685) to independently manage all six servos with precise PWM signals.

• Power System: Two 18650 Li-ion cells providing stable voltage for servo operation and control electronics.

• Software & Algorithms:

  • Implemented inverse kinematics routines for coordinated joint motion.

  • Developed manual and programmatic control sequences for smooth operation across multiple axes.

Lessons Learned:

• Gained practical experience in coordinated multi-servo control and PWM management.

• Learned how to balance power requirements for multiple servos to prevent brownouts and voltage drops.

• Developed skills in kinematics, calibration, and mechanical tolerance adjustment for smooth motion.

Why This Project Matters:
Provided hands-on experience in robotic manipulation, bridging mechanical design, electronics, and software control. Laid a foundation for advanced robotics projects involving grippers, pick-and-place automation, and precision manipulation.

If Given the Chance, I'd Like To:

• Implement a precision claw grip to enable manipulation of small objects.

• Integrate sensors (force, touch, or encoders) for feedback-assisted motion.

• Expand to ROS-based control for trajectory planning and integration with other robotic systems.

• Explore autonomous pick-and-place routines using vision or sensor-based guidance.