[Arduino project] robot arm control using servo motors and potentionmeters (서보모터와 가변저항을 이용해 만든 로봇팔 제어)

- Supplies: Servo motor (SG90), wood stick, potentiometer, Arduino board 

- 준비물: 서보모터, 나무 막대기, 가변저항, 아두이노 보드

The operation principle is that the signal generated by each potentiometer is directly sent to each servo motor, So the servo type robot arm moves based on the control signals from the potentiometer type robot arm.

가변저항기에서 생성된 제어신호가 서보모터에 전달되어 서보모터로 만든 로봇팔이 가변저항기로 만든 로봇팔의 동작을 따라한다. 

Flapping & Folding mechanism considering the maximization of flapping angle or not. (날갯짓 각도 최대화를 고려한 날개 메커니즘)

- All wing frames are made by a 3D printer (Sindoh, DP200).
- For making a gearbox, we use spur gear, compound gear, and motor gear.
- BLDC motor is used to drive the gearbox for a wing motion.

General flapping motion

General flapping & folding motions

Flapping motion considering the maximum angle of movement

Flapping & Folding motions considering the maximum angle of movement

HEXA gait robot + FPV camera

- Straight path autonomous driving of HEXA gait robot with FPV camera
- Component:

- Video clip:

- Robot URL: http://arcbotics.com/products/hexy/

DASH gait robot

- Autonomous Driving of DASH gait robot
- Coordination and free body diagram of the unicycle model

- Error dynamics and linearization based controller

- Simulation result

- Video clip and experimental result

Tail wing mechanism moved by universal joint or servo motor. (유니버셜 조인트 또는 서보모터로 동작하는 꼬리 날개 메커니즘)

- The universal joint is made by a 3D printer.

- Spring and MDF-link are used to make the tail wing mechanism.

Detailed components

Side-view of a tail wing with universal joint

Top-view of a tail wing with universal joint

Video clip of tail wing movement