SCARA arm with closed loop stepper motors.

I updated my SCARA arm by installing some closed loop stepper motors. Now I can limit the torque of the motors but still keep track of the positions of the arms. PID coefficients still have to be tuned and I will have to decrease acceleration just because the construction is not quite stiff.

[@MrMoonISFull]

Be careful because he will grow up someday and give you leson :D :D

[@sajjadshamsi9357]

Hi, Thanks for sharing the videoo.
I have a problem with a similar arm which I have made with the exact similar architecture as this video: Movements of links 2 and 3 are not independent. That means when I command motor #2 to move link 2, link 3 also moves relative to link 2. I guess this is the reason why the final sketch drawn by my robot gets screwed up.
Did you have a similar issue ?

[@deeepakkushwah2503]

Can you please you please help me to make a code for dmx stapper motor with encoder

[@hergum]

That looks really good! How did you do the closed loop steppers? DIY or off-the-shelf? I would love a link.

[@alexandrubabaian8364]

It uses mechaduino motors.
You can check it out. It's an open source project.

[@nathanwilliams9365]

How much would you say it cost you to build this little guy?

[@liadyamin4429]

What firmware/hardware were you using?

[@monsontis]

arduino uno!

[@williamhuang5329]

Hanzhen harmonic drive gear , over 30 years experience , robot joint , strain wave reducer