4-axis Robotic Arm - Reference only

I am sharing the robotic arm that I built as a school project.

Disclaimer: Please note that I will not be publishing detailed assembly instructions, complete parts lists, or detailed documentation for this specific build.

Goal: The primary purpose of this document is to serve as a high-level reference and source of ideas for anyone undertaking their own custom robotic arm project.

Note: The code for this project was created with Gemini and, while functional, is not optimized.

If you are looking to build a robotic arm but your focus is not on developing and constructing your own design, you should look into the established Arctos and Annin Robotics robotic arms.

Rough Bill of Materials (Mechanical Components Only)

This list details the approximate mechanical components used in the construction of the arm, provided as a reference for the types of parts involved.

Electronic Components Used

• ESP32-S3 (Microcontroller)

• TMC2209 ×3 (Stepper motor driver)

• NEMA17 Stepper Motor ×3

• Servo Motor ×3 (Joint 4 + 2× Gripper)

• KY-023 Joystick ×2 (2-axis analog)

• KY-040 Rotary Encoder ×1

• SH1106 OLED Display ×1 (128×64, I²C)