Introduction:

The robot arm is the first of the TRITON family.
The structure is made of polycarbonate of 1 mm and 4 mm pvc.
Also been used at different angles of aluminum to unite and join the arm structure.
For the movement of the joints have different power servomotors mounted.
For management we have assembled a servo controller of eight servos, especially designed for this series of arms.

Mechanical description:

The arm consists of four areas of management and movement.
In this case, has assembled an additional tool of two fingers, with a servo that opens and closes the gripper.
The management of the arm movements are as follows:

-At the base is mounted a servo of 8 kg for the arm rotation.

-Lateral joint two servos are mounted, one of 24kg and a 8kg.

-In the end it has adapted a six kilos servo to rotate different interchangeable tools.
  In this case we have mounted two-finger gripper described above.

Electronics Description:

For this prototype we have designed a circuit board capable of handling eight servomotors.
The microcontroller, in Basic Stamp II, is responsible for the movement of all axes robotic arm.

PCB features are available in section:
Electronics, Servo Controller 8 BS-II. 

• Link video of the robot
  
  

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