EEZYRoboticArmAPI

3D printed robotic arm that uses stepper motors and it's connected to a raspberry pi 4 that sends the steps/instructions.

Demo

Full Youtube video: Robotic Arm

API

Endpoints:

/api/stepper

This endpoint has the query params move and value that specifies the robotic arm direction and steps

move = up & value = //add steps number
move = down & value = //add steps number
move = forward & value = //add steps number
move = backward & value = //add steps number
move = base_right & value = //add steps number
move = base_left & value = //add steps number

Response:

{
  “movement”: “up”,
  “status”: 200
}

The steps above are only for the robotic arm movement. For the claw we have different query params

move = claw & angle = //add any number between 1 and 9

Response:

{
  “movement”: “claw movement”,
  “status”: 200
}

Each query action is memorised so that we can replay it For this I had to implement a other actions

move = clear_steps - This query removes/clears all actions that were made until that point

Response:

{
  “data”: 0,
  “movement”: “clear_steps”,
  “status”: 200
}

move = saved_steps - This query displays the steps number (how many actions are memorised until that point)

Response:

{
  “data”: 65,
  “movement”: “saved_steps”,
  “status”: 200
}

move = replay_steps - Once this query is called it will replay all the steps that were memorised

Response:

{
  “data”: 65,
  “movement”: “replay_steps”,
  “status”: 200
}

Hardware connection between Raspberry PI and ULN2003 Driver Board

Raspberry pi	ULN2003 Driver Board (1) Up/ Down
GPIO21	IN1
GPIO20	IN2
GPIO16	IN3
GPIO12	IN4
GND	GND
5V	5V

Raspberry pi	ULN2003 Driver Board (2) - Forward / Backward
GPIO26	IN1
GPIO19	IN2
GPIO13	IN3
GPIO06	IN4
GND	GND
5V	5V

Raspberry pi	ULN2003 Driver Board (3) - Base left/right
GPIO05	IN1
GPIO22	IN2
GPIO27	IN3
GPIO18	IN4
GND	GND
5V	5V

Thingiverse Model

https://www.thingiverse.com/thing:2838859

License

Copyright 2019

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

   http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.