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SunFounder Rollarm Manual

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About SunFounder
SunFounder is a technology company focused on Raspberry Pi and Arduino open source
community development. Committed to the promotion of open source culture, we strive to
bring the fun of electronics making to people all around the world and enable everyone to
be a maker. Our products include learning kits, development boards, robots, sensor
modules and development tools. In addition to high quality products, SunFounder also offers
video tutorials to help you build your own project. If you have interest in open source or
making something cool, welcome to join us! Visit
About This Kit
The Rollarm Kit for Arduino is designed for mass hobbyists to learn robot arm control. With
the open source MCU Arduino UNO and a servo expansion board, the robot arm is easy to
use and full of fun. You can control its four axes by the 4 potentiometers on the handle, as
well as make them move on your computer. In addition, it can memorize the movements
it's made and repeat again and again, making it a great tool for repeated tasks.
In this book, you can learn the basics of how a mechanical arm works and how to make
one piece by piece. For more information, please go to our website
and find the tutorial under
and playing are provided under VIDEO -> Robot Kit -> DIY Control Robot Arm Kit for Arduino-
Rollarm.
Free Support
If you have any TECHNICAL questions, add a topic under
website and we'll reply as soon as possible.
For NON-TECH questions like order and shipment issues, please
service@sunfounder.com. You're also welcomed to share your projects on FORUM.
Preface
LEARN
->
Get
tutorials. Also video tutorials about the assembly
www.sunfounder.com
www.sunfounder.com
for more!
www.sunfounder.com
FORUM
section on our
send an email to

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Summary of Contents for SunFounder Rollarm

  • Page 1 About This Kit The Rollarm Kit for Arduino is designed for mass hobbyists to learn robot arm control. With the open source MCU Arduino UNO and a servo expansion board, the robot arm is easy to use and full of fun. You can control its four axes by the 4 potentiometers on the handle, as well as make them move on your computer.

  • Page 2: Table Of Contents

    Left Joint Plate 3 ......................37 5.19 Handle ..........................38 5.20 Wiring ..........................42 6. Control the Rollarm ........................43 Manual Control ......................43 Automatic Control ....................... 44 Code Explanation ......................45 PC Control (by Labview) ................... 48 6.4.1 Installing Labview Software ................48...

  • Page 3: Introduction

    1. Introduction 1.1 Overview The Rollarm Kit is an interesting and useful learning tool for Arduino and robot hobbyists. With the acrylic design and code based on Arduino, it enables users to learn programming from easy to difficult, control the mechanical arm freely and perform various fun operations! This fun mechanical arm consists of 4 axes, each controlled by a servo.

  • Page 4: Components List

    2. Components List 2.1 Acrylic Plates Prior to assembling the Rollarm, you need to remove the residues in the holes of the plates and the stickers on the plates. Here we take the Joint 1 fixing plate for example. 1. Check whether there are some residues 2.

  • Page 5: Connecting Components

    3. Make sure that all the residues are 4. Use the pointed tool to scratch off the cleared. sticker on the plate. 2.2 Connecting Components Name Component Qty. M1.2*4 Self-tapping Screw M2*8 Screw M2 Nut M3*8 Flat-Head Screw M3*8 Screw...
  • Page 6 M3*10 Screw M3 Nut M7 Thin Nut 3*10*1 Washer M3*10 Aluminum Tube M3*6 Corn Rivet φ3*φ8*4 Band Edge Bearing...

  • Page 7: Electronic Components

    2.3 Electronic Components Name Component Qty. SunFounder Servo (9g) Potentiometer Button Button 18650*2 Battery Holder...
  • Page 8 SunFounder Mars Board Expansion Board Potentiometer Module USB Type-C Cable RJ11 Cable Riband...

  • Page 9: Tools

    3M Non-skid Pad Heat Shrink Tubing Cable Clip 2.4 Tools Screw Driver 2.5 Self-Provided Components 18650 Battery...

  • Page 10: How To Control

    Control with handle: download the Rollarm package and the program (Indispensable step before operating the Rollarm) Control with Labview: download the Labview to your PC and install for control (download is a must-do before subsequent operating) Let’s get started.
  • Page 11 Find the one that suits your operation system and click to download. There are two versions of Arduino for Windows: Installer or ZIP file. You're recommended to download the former. Step 2: Double click the .exe file and the following window will show up. Click I Agree. The following interface will show up.
  • Page 12 Click Browse to choose the installation path or enter a directory at the Destination Folder. Click Install. The following interface will show up. Note: After the installing progress bar goes to the end, the Close button may be enabled for some PC. Just click it to complete the installation.
  • Page 13 Then a prompt appears. Select Always trust software for "Adafruit Industries" and click Install. Select Always trust software for "Arduino srl" and click Install. After the installation is done, click Close. Then an Arduino icon will appear on the desktop:...

  • Page 14: Resources Download

    The link for downloading (you may also find the link in the PDF file downloaded before): https://s3.amazonaws.com/sunfounder/Arduino/Labview.zip Note:  Labview/Rollarm/Rollarm’s Installer/setup.ex: The installer of Labview on your PC. Then choose your installation path. 3. For related introduction and installation videos of the DIY Control Robot Arm kit for Arduino-Rollarm, please click VIDEO ->...

  • Page 15: Assembly

    5. Assembly 5.1 Base Bottom Plate + Riband Cut the 50cm ribbon into halves. Thread the ribbon through the Acrylic plate. Leave the riband with one end of a long part and the other of a short one. Thread another riband through the base bottom plate.

  • Page 16: Base Bottom Plate + Circuit Board

    Fold the ribbon in the battery holder. Align the anode of the battery with that of the battery cover and so does the cathode. Insert the battery into the battery holder. 5.3 Base Bottom Plate + Circuit Board Align the four acrylic washers with the...

  • Page 17: Base Bottom Plate + Base Fixing Plate

    Align the acrylic washers and holes on Place the Mars board onto the plate the plate. Cling 4 M3 nuts to the holes with its holes aligned with the washers. underneath the plate. Fasten them with the M3*12 screws.

  • Page 18: Base Upper Plate + Servo

    3. Mount the other base fixing plate in the same way. 5.5 Base Upper Plate + Servo Align the servo with the slot of the base Insert the servo into the slot. upper plate with the rotating axis close to the middle line of the base upper plate.

  • Page 19: Base Fixing Plate + Base Upper Plate

    5.6 Base Fixing Plate + Base Upper Plate Align the holes of the base upper plate Insert the bulges into the holes. with the bulges of the base fixing plate. Put an M3 nut in the hole of the base Fasten the other screw in the same way.

  • Page 20: Joint 1-Connecting Plate + Servo Rocker Arm

    Joint 1-Connecting Plate + Servo Rocker Arm Align the servo rocker arm with the Put the rocker arm on the connecting hole of the Joint 1-connecting plate. plate and rotate it to align its holes with those of the plate.

  • Page 21: Joint 1 Connecting Plate

    Likewise, fix a servo rocker arm on the Right Joint Plate 3. 5.8 Joint 1 Connecting Plate Align the bulges of the Right Joint Plate Insert the bulges into the slots. 1 with the slots of the Joint 1 Connecting plate.

  • Page 22: Base + Joint 1 Connecting Plate

    Connect the yellow, red, and brown wire to S, V, and G port as shown above. Step 2: Connect the Rollarm to your computer with the Type-C cable: the driver will be installed automatically at that time, then you can see COMxx in device manager.
  • Page 23 Step 4: Select the Board. And Port. Step 5: Click Upload.
  • Page 24 After the upload is completed successfully, unplug the USB cable and press the switch on the board. You may hear the sound of gear moving (or may not, if the servo shaft happens to be at 90 degrees at the beginning; but you GENTLY spin the rocker arm and you'll find it's unmovable).

  • Page 25: Joint 2 + Right Joint Plate 2

    5.10 Joint 2 + Right Joint Plate 2 Align the servo with the right joint plate Insert the servo into the slot of the plate. Pay attention that the servo shaft should point to the plate end near the slot the servo to be placed in.
  • Page 26 Align the bulges of the joint 2- Insert the bulges into the slots. connecting plate with the slots of the right joint plate 2. Put an M3 nut into the hole of the joint 10. Fasten them with the screwdriver.
  • Page 27 13. Put an M3 nut in the hole of the joint 2- 14. Insert the bulges into the slots. connecting plate. Align the bulges of the plate with the slots of the left joint plate 2. 15. Insert an M3*10 screw into the nut and 16.

  • Page 28: Joint 1 Connecting Plate + Joint 2 Connecting Plate

    5.11 Joint 1 Connecting Plate + Joint 2 Connecting Plate Note: Connect the servo of Joint 2 connecting plate to port of the expansion board, while the servo of Joint 3 connecting plate to port D6. Power on the servos, then it will be...
  • Page 29 Power on the servo. Connect the servo Insert the shaft into rocker arm. of joint 2-connecting plate to the port 5 of the expansion board. Align the servo shaft with the round rocker arm connected to the joint 1- connecting plate. Remember the servo should be vertically placed as shown below.

  • Page 30: Joint 1 Connecting Plate

    5.12 Joint 1 Connecting Plate Align the band edge bearing with the Move the bearing against the joint 2 corn rivet. Put the bearing into the rivet. connecting plate and align the hole of left joint 1 connecting plate with the bearing.

  • Page 31: Gripper Fixing Plate

    Put an M3 nut in the hole of the left joint It will be like this after fastening. connecting plate 1 and insert an M3*10 screw into the nut and fasten them. 5.13 Gripper Fixing Plate Align the servo with the slot of the Insert the servo into the slot.

  • Page 32: Gripper Driving Plate + Gripper Driven Plate

    Put an M2 nut underneath the hole and It will be like this after fastening. hold it with your finger, and insert an M2*8 screw into the nut and fasten them. Fasten another screw in the same way. 5.14 Gripper Driving Plate + Gripper Driven Plate Align the servo rocker arm with the hole Put the rocker arm on the plate.
  • Page 33 Insert an M1.2*4 self-tapping screw into Fasten them with the screw driver. the first hole of rocker arm. Insert an M1.2*4 self-tapping screw into Align an M3*10 aluminum tube with the the last hole and fasten them. rest hole of the plate.
  • Page 34 11. Align the holes of the gripper assistant 12. Fasten them with an M3*8 screw. with the aluminum tubes. 13. It would be like this after fastening. 14. Fix an M3*8 screw to the other tube. 15. Install the gripper driven plate in the same way.

  • Page 35: Grippers + Gripper Fixing Plate

    5.15 Grippers + Gripper Fixing Plate Note: Connect the servo of the gripper fixing plate to the port D7 of the expansion board, then power on the servo, then the servo will rotate to its 170 position as shown below:...
  • Page 36 Fasten them with an M2*4 self-tapping It will be like this after fastening. screw. Align the aluminum tube with the hole Put the tube on the plate. of the gripper fixing plate. Insert an M3*8 screw into the hole.

  • Page 37: Gripper Fixing Plate + Right Joint Plate 3

    Align a band edge bearing with the 10. Keep the inner edges of the two gripper aluminum tube with the edge against the plates parallel and the gears meshed. tube. Put the gripper driven plate onto the bearing. 11. Put a 3*10*1 washer on the bearing and 12.

  • Page 38: Joint 2 Connecting Plate + Joint 3 Connecting Plate

    Put an M3 nut in the hole of the gripper Fasten them with the screw driver. fixing plate and insert an M3*10 screw into the nut. 5.17 Joint 2 Connecting Plate + Joint 3 Connecting Plate Power on the servo and connect the servo Fasten them.

  • Page 39: Left Joint Plate 3

    5.18 Left Joint Plate 3 Align the band edge bearing with the Align the hole of the left joint plate 3 corn rivet with its edge against the plate. with the bearing. Insert the bulges of the gripper fixing Put an M3 nut in the hole of the fixing plate into the slots of the left joint plate 3.

  • Page 40: Handle

    Fasten them with the screw driver. 5.19 Handle Align the bulges of the handle-fixing Insert the bulges into the slots. plate with the slotted holes of the handle- bottom plate. Put an M3 nut in the hole of the fixing Fasten them with the screw driver.
  • Page 41 Fix the other handle fixing plate in the Align the four holes of the handle upper same way. plate with the 4 potentiometers on the Potentiometer Module. Insert the pots into the four holes. Fasten one pot with an M7 thin nut.
  • Page 42 11. Align the slotted holes of the handle 12. Insert the bulges into the holes with the upper plate with the bulges of the handle module on the bottom plate. fixing plate. 13. Put an M3 nut in the hole of the handle 14.
  • Page 43 17. Put the button onto the potentiometer 18. Install the other three pot buttons in the and press to tighten them. same way. Rotate them to 0° position. 19. Install the button. 20. Press to tighten it.

  • Page 44: Wiring

    2. When the servos are on, remember NOT to rotate the servo rocker arms. Turn them off if you want to do so. 3. Please be careful that the servos shouldn’t be kept stalling. Otherwise, it will cause damages. In a word, when you are not running the Rollarm, keep it OFF.

  • Page 45: Control The Rollarm

    6. Control the Rollarm There are two ways to control the Rollarm: manual control (by handle), or PC control (by Labview). The detailed operations for two ways are as follows. 6.1 Manual Control Step 1: Run the Rollarm.ino file under the path DIY Control Robot Arm kit for Arduino- Rollarm\Arduino Code.

  • Page 46: Automatic Control

    Record the rest steps in this way. When all the steps are done, press and hold the yellow button for a while (3s). So it will repeat the recorded steps (Rollarm can record at most 100 steps because of the control board’s memory limit).

  • Page 47: Code Explanation

    Since the Rollarm has four servos acting as the moving joint, we need to include a header file for driving the servos and define them.
  • Page 48 When the value is larger than 10, it means Rollarm is repeating the steps. When it is between 0 and 10, it means Rollarm is remembering. And when it is 0, it means Rollarm is being controlled by the potentiometers. The specific program is as follows: //Check the button.
  • Page 49 Button(); //The time of pressing the button is not long then record the action. ((KeyValue < 10) && (KeyValue > 0)) KeyValue = 0; Record(); Mapping1(); //Long press the button and open the auto mode ,start repeating the action.

  • Page 50: Pc Control (By Labview)

    After downloading, unzip and open it. If you haven’t installed the Labview Runtime, you can get into the Labview\Rollarm Project\Rollarm Installer folder, install the setup file: If you have installed the Labview Runtime, you can just get into the Labview\Rollarm Project\Rollarm folder, double click the Rollarm file: The following interface will show up.

  • Page 51: Running The Labview

    Before running the software on the computer, we should install a driving program into Arduino. Open the folder LIFA_Base under path DIY Control Robot Arm kit for Arduino- Rollarm\Arduino Code Open the file LIFA_Base.ino. Upload the sketch to the Arduino. DO NOT unplug the USB cable at the moment.
  • Page 52 See the interface of manual control below. After the Labview is installed and run, this mode is enabled by default. Click menu downlist icon for Serial Port, select the port according to your COM port. Here is COM1, which varies for different computers.
  • Page 53 If such an icon appears before the port, it indicates something goes wrong with the port: To solve the problem, just replug the USB cable. Then start from sketch upload again. Select the Board Type and Connection Type, here we take Uno and USB connection type...
  • Page 54 There are three small icons at the top left. Click the middle one to run the software. Then the three icons will change to the state below:...
  • Page 55 The initial position of the four axes is respectively set to 90° , 90° , 90° , and 150° from bottom to top, so the corresponding servos should be like as shown below: d) Click Start, and the button will change from dark to light green, as shown below:...
  • Page 56 You can move the slider on the window to control the Rollarm. On the right, there are 4 dashboards, 1, 2, 3 and 4, which correspond to the four servos respectively from bottom up. 2) Automatic Mode You can also switch between manual control and automatic control through the rocker switch between Manual and Auto.
  • Page 57 After filling the figures, click the Start button. Rollarm will then perform as you just set. Note that the range of the data for Mode 4 is 90~180.
  • Page 58 1) About the assembly: Q1: After assembly and program download, the Rollarm’s four axes are in wired position, some may be out of control. What should I do？ A: Remember to power on and calibrate each servo before assembly.
  • Page 59 Turn off the Rollarm, power it on again, and reconnect the serial port to try. Q2: The Rollarm is in a strange position when I click Start and it's in the automatic mode. Anything wrong? A: Here no value is filled in the table yet. The first three axes are in 0° , and the last one is...
  • Page 60 If you don’t know the exact angle, you can shift to the manual mode and note down the angle values for each step, and then shift back to fill in. When all the steps above are done, you can click Start to let Rollarm perform the automatic control.
  • Page 61 All contents including but not limited to texts, images, and code in this manual are owned by the SunFounder Company. You should only use it for personal study, investigation, enjoyment, or other non-commercial or nonprofit purposes, under the related regulations and copyrights laws, without infringing the legal rights of the author and relevant right holders.

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