Handy Two-Axis Robotic Arm 011

By

Cyrus Bickell, Alexander Veira and Zachary Glenn

C++
Python
System Design
System Testing
Arduino
PCB
Robotics
Junior Design
Spring 2025

The Handy Two-Axis Robotic Arm is a portable automated 2D plotting and drawing tool using the SCARA topology. The user inputs Gcode commands, such as emergency stop and premade patterns/shape commands into the GUI on a computer. The system takes 120VRMS AC power using a standard 3-prong US wall plug. After each operation is finished, a buzzer will sound to notify the user. The mechanism allows the arm to move the drawing pen to different positions inside a 400mm radius semicircle, which allows a 10-inch straight line to be precisely drawn. We learned how to facilitate communication between devices using different programming languages. One area of future improvement is using servo motors that can go beyond 180 degrees of rotation for more freedom of movement. Another area of future improvement would be calculating an optimal starting position for the paper, allowing the arm to move to all corners and draw over the entire sheet.

3 Lifts 

Artifacts

Name Description
GUI Arm Code Code containing Inverse Kinematics equations and GUI creation for the robotic arm.   Link
Microcontroller Code Code flashed to the microcontroller to take in serial inputs and translate to servo motor movement.   Link
Project Summery This document includes an explanation of the original design problem or need that the design solves. A narrative explanation of how we approached the project as a team, including development phases and ongoing evaluation and revision to the design. A project timeline image. Key lessons we learned from the project as a team   Download
Handy Arm Showcase Video A video covering our overall design process of the arm.   Link
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