Final Project Concept

For my final project, I want to design a 3DOF robotic arm with an adjustable/modular end effector. For the Shoulder and Elbow joints, I will be using a cycloidal drive as a gearbox, to increase the amount of torque. For those main joints and the base, I will use a NEMA 17 Stepper, and for the other two joints I will use servos. Or, I will use steppers for each joint except the last one. As for its, task, it will start with a pen, but I will add modular end effectors (grippers, scoops) as the project progresses.

Robot Arm Sketch

It will be a 4 DOF arm with a potentiometer array to manipulate the end effector along the x, y and z axes.

Cycloidal Drive

It will be a 22-1 reduction and it will fit roughly within the shadow of the NEMA 17 stepper. It will be mostly 3d printed, with bearings ordered from amazon.