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Arduino Shirt Folding Robot

About the project

This is a robot made of 12 servos and they all move flaps on top of a cardboard surface. The flaps are made of cardboard and they rotate. You use the robot by putting a shirt on the surface, and the flaps move one by one to fold the shirt. The last flap takes the folded shirt and flips it away from the robot.

Project info

Difficulty: Easy

Platforms: Arduino

Estimated time: 1 week

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

	Arduino Uno - R3	x 1
	Micro Servo	x 12
	PWM/Servo Shield PCA9685 12-bit	x 1
	Cardboard	x 1

Software apps and online services

Arduino

Hand tools and fabrication machines

Hot Glue gun

x 1

Story

I saw a youtube video from a guy trying to make a robot that folds his clothes. I liked the project so I decided to recreate it because I thought it would be really cool to have a robot that folds my shirts. I am still not done with the robot yet but it can fold shirts right now.

CAD, enclosures and custom parts

Planning and specs

Go to download

Reddit post video

Go to download

Code

#include <Servo.h>

Servo Lo;
Servo Lt;
Servo Ro;
Servo Rt;
Servo Bo;
Servo Bt;
Servo Mo;
Servo Mt;
Servo Mth;
Servo Eth;
Servo Eo;
Servo Et;

int delay_val = 1000;
int angle = 120;

void setup() {
  Lo.attach(6);
  Lt.attach(13);
  Eo.attach(4);
  Et.attach(5);
  Mo.attach(2);
  Mt.attach(3);
  Mth.attach(9);
  Eth.attach(7);
  Bo.attach(10);
  Bt.attach(1);
  Ro.attach(11);
  Rt.attach(12);

  Bo.write(angle);
  Bt.write(angle);
  Lo.write(0);
  Lt.write(0);
  Ro.write(0);
  Rt.write(0);
  Mo.write(0);
  Mt.write(0);
  Mth.write(180);
  Eth.write(0);
  Eo.write(0);
  Et.write(0);

  
}

void loop() {
  delay(5000);
  Bo.write(0);
  Bt.write(0);
  delay(delay_val);
  Bo.write(angle);
  Bt.write(angle);
  delay(delay_val);
  Lo.write(angle);
  Lt.write(angle);
  delay(delay_val);
  Lo.write(0);
  Lt.write(0);
  delay(delay_val);
  Ro.write(angle);
  Rt.write(angle);
  delay(delay_val);
  Ro.write(0);
  Rt.write(0);
  delay(delay_val);
  Mo.write(180);
  Mt.write(180);
  Mth.write(0);
  delay(delay_val);
  Mo.write(60);
  Mt.write(60);
  Mth.write(angle);
  delay(delay_val);
  Eo.write(180);
  Et.write(180);
  Eth.write(180);
  delay(delay_val);
  Eo.write(0);
  Et.write(0);
  Eth.write(0);

}

#include <Servo.h>

Servo Lo;
Servo Lt;
Servo Ro;
Servo Rt;
Servo Bo;
Servo Bt;
Servo Mo;
Servo Mt;
Servo Eth;
Servo Eo;
Servo Et;

int servoPositions[12];



void setup() {
  
  Serial.begin(9600);
  Lo.attach(6);
  Lt.attach(13);
  Eo.attach(4);
  Et.attach(5);
  Mo.attach(2);
  Mt.attach(3);
  Eth.attach(7);
  Bo.attach(10);
  Bt.attach(1);
  Ro.attach(11);
  Rt.attach(12);
}
void loop() {
  
  while(Serial.available()){
    String input = Serial.readStringUntil('\n');
    servoPositions[0] = input.substring(0,3).toInt(); // 
    servoPositions[1] = input.substring(3,6).toInt();
    servoPositions[2] = input.substring(6,9).toInt();
    servoPositions[3] = input.substring(9,12).toInt();
    servoPositions[4] = input.substring(12,15).toInt();
  } 
  Bo.write(servoPositions[2]);
  Bt.write(servoPositions[2]);
  Lo.write(servoPositions[0]);
  Lt.write(servoPositions[0]);
  Ro.write(servoPositions[1]);
  Rt.write(servoPositions[1]);
  Mo.write(servoPositions[3]);
  Mt.write(servoPositions[3]);
  Mth.write(servoPositions[3]);
  Eth.write(servoPositions[4]);
  Eo.write(servoPositions[4]);
  Et.write(servoPositions[4]);
  delay(500);
}
//#include <Servo.h>
//
//Servo Lo;
//Servo Lt;
//Servo Ro;
//Servo Rt;
//Servo Bo;
//Servo Bt;
//Servo Mo;
//Servo Mt;
//Servo Mth;
//Servo Eth;
//Servo Eo;
//Servo Et;
//
//int delay_val = 1000;
//int angle = 120;
//
//void setup() {
//  Lo.attach(6);
//  Lt.attach(13);
//  Eo.attach(4);
//  Et.attach(5);
//  Mo.attach(2);
//  Mt.attach(3);
//  Mth.attach(9);
//  Eth.attach(7);
//  Bo.attach(10);
//  Bt.attach(1);
//  Ro.attach(11);
//  Rt.attach(12);
//
//  Bo.write(angle);
//  Bt.write(angle);
//  Lo.write(0);
//  Lt.write(0);
//  Ro.write(0);
//  Rt.write(0);
//  Mo.write(0);
//  Mt.write(0);
//  Mth.write(180);
//  Eth.write(0);
//  Eo.write(0);
//  Et.write(0);
//
//  
//}
//
//void loop() {
//  delay(5000);
//  Bo.write(0);
//  Bt.write(0);
//  delay(delay_val);
//  Bo.write(angle);
//  Bt.write(angle);
//  delay(delay_val);
//  Lo.write(angle);
//  Lt.write(angle);
//  delay(delay_val);
//  Lo.write(0);
//  Lt.write(0);
//  delay(delay_val);
//  Ro.write(angle);
//  Rt.write(angle);
//  delay(delay_val);
//  Ro.write(0);
//  Rt.write(0);
//  delay(delay_val);
//  Mo.write(180);
//  Mt.write(180);
//  Mth.write(0);
//  delay(delay_val);
//  Mo.write(60);
//  Mt.write(60);
//  Mth.write(angle);
//  delay(delay_val);
//  Eo.write(180);
//  Et.write(180);
//  Eth.write(180);
//  delay(delay_val);
//  Eo.write(0);
//  Et.write(0);
//  Eth.write(0);
//
//}

Credits

0riginal_sir

I make arduino projects and python games. I am Moroccan and lived in America most my life. I am now 14.

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