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The Arm Oh My Robot E.m.m.a. Controlled With A Gang

Made by Etgetet / 3D Printing / Home Automation / Robotics / Sensors / Virtual Reality

About the project

The finger of my arm move with a servo controled by an arduino mega, and the gang works with flex sensors and a accelerometer gyroscope. And all this is powered by two external batteries

Project info

Difficulty: Moderate

Platforms: Adafruit, Amazon Alexa, Arduino, Python, Elegoo

Estimated time: 3 months

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

Items used in this project

Software apps and online services

Arduino,Amazon,youtube,thingiverse

Hand tools and fabrication machines

Creality 3D printer (Ender 3 max) Is a big 3D printer

x 1

Story

I did this project because it's the sequel to my human robot E.M.M.A. which I started a year ago. and therefore as its name indicates the purpose of my robot is to do a Mental Moral and Affective Education (E.M.M.A. in french). I also created this project to improve myself in mechanics and wiring this project will help me later to make me enter a school of mechatronics. It is for the moment the biggest project of my life.https://www.reddit.com/r/ArduinoProjects/comments/12p63kw/an_arm_that_is_controlled_by_a_glove/?utm_source=share&utm_medium=android_app&utm_name=androidcss&utm_term=1&utm_content=share_button

Schematics, diagrams and documents

Schematic of the arm of E.M.M.A.

You need: -6X servo motor 13kg -5X flex sensor -1X arduino mega -1X arduino accelerometer gyroscope - cables -1X 12V battery -4X 1.5V batteries

Code

Arduino_arm_code

It is a very easy arduino code

#include<Wire.h>
const int MPU_addr=0x68;  // I2C address of the MPU-6050
int16_t AcX,AcY;
#include <Servo.h>
int ancpos =0;
int pos = 0;

Servo myservo;
Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;
Servo myservoP;

int flexpin = A0;
int flexpin1 = A2;
int flexpin2 = A4;
int flexpin3 = A3;
int flexpin4 = A1;


void setup() {

  Wire.begin();
    Wire.beginTransmission(MPU_addr);
    Wire.write(0x6B);  // PWR_MGMT_1 register
    Wire.write(0);     // set  to zero (wakes up the MPU-6050)
    Wire.endTransmission(true);
  //////////////////servomoteur///////////////////////
  myservoP.attach(2);
  myservo.attach(3);
  myservo.write(180);
  myservo1.attach(4);
  myservo1.write(180);
  myservo2.attach(5);
  myservo2.write(180);
  myservo3.attach(6);
  myservo3.write(180);
  myservo4.attach(7);
  myservo4.write(180);
 
  Serial.begin(9600);

}

void loop() {
 
  int flexVal;
  int flexVal1;
  int flexVal2;
  int flexVal3;
  int flexVal4;

  flexVal = analogRead(flexpin);
  flexVal1 = analogRead(flexpin1);
  flexVal2 = analogRead(flexpin2);
  flexVal3 = analogRead(flexpin3);
  flexVal4 = analogRead(flexpin4);

  ////////////////////////////accelerometre///////////////////////////////

 
    Wire.beginTransmission(MPU_addr);
    Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
    Wire.endTransmission(false);
    Wire.requestFrom(MPU_addr,14,true);  // request a total of 14 registers
    AcX=Wire.read()<<8|Wire.read();  
    AcY=Wire.read()<<8|Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
   
 /////////////////////////////////servo///////////////////////////////////
    int posac= ((AcY/200)+90);

      int pos= posac*2.5-135;
      Serial.print(" | posac= "); Serial.print(posac);
      Serial.print(" | pos= "); Serial.println(pos);
      myservoP.write(pos);
   
   

/////////////////////////////////////////////////////////////////////////
   
    if(flexVal > 50)
  {
  myservo.write(180);
  Serial.println("on");
  delay(10);
  }
 
  else if(flexVal < 50)
  {
  myservo.write(0);
  }

    if(flexVal1 > 50)
  {
  myservo1.write(180);
  Serial.println("on");
  delay(10);
  }
 
  else if(flexVal1 < 50)
  {
  myservo1.write(0);
  }
    if(flexVal2 > 50)
  {
  myservo2.write(0);
  Serial.println("on");
  delay(10);
  }
 
  else if(flexVal2 < 50)
  {
  myservo2.write(180);
  }

      if(flexVal3 > 50)
  {
  myservo3.write(180);
  Serial.println("on");
  delay(10);
  }
 
  else if(flexVal3 < 50)
  {
  myservo3.write(0);
  }

    if(flexVal4 > 50)
  {
  myservo4.write(180);
  Serial.println("on");
  delay(10);
  }
 
  else if(flexVal4 < 50)
  {
  myservo4.write(0);
  }

   
  Serial.print("Sensor: ");
  Serial.println(flexVal);
  Serial.print("Sensor1: ");
  Serial.println(flexVal1);
  Serial.print("Sensor2: ");
  Serial.println(flexVal2);
  Serial.print("Sensor3: ");
  Serial.println(flexVal3);
  Serial.print("Sensor3: ");
  Serial.println(flexVal4);  
   
 
 
}

Credits

Etgetet

I am a French teenager, I started building from the age of 5 with paper then I built a mechanical machine with cardboard when I was 8 years old. when I was 10 I discovered electrical assembly by going to a waste disposal site to disassemble a remote-controlled car so I learned thanks to youtube to improve myself in this area. when I was 11 I wanted to do , for a school project, a system which consists of turning a direct current motor from left to right and by doing research I discovered arduino and programming since then I have been improving it day by day. I am passionate , patient and versatile, works every day to achieve my goal: to be a mechatronics engineer.

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The Arm Oh My Robot E.m.m.a. Controlled With A Gang

About the project

Project info