This project is a miniaturized scale model of the @Home V1 robot arm for the purpose of testing arm control software. The model contains several potentiometers to measure position/angle, and buttons on the “hand” to manipulate the end affector. This circumvents the need for advanced inverse kinematics or control software and lets the developer focus on just getting the arm to work before working on those.
Joint pieces are 3D printed, held together by alignment pins and a single screw and captive nut each. Arm links are thin laser cut acrylic, fit onto the pins. Analog signals from the potentiometers are sent to an Arduino, which interfaces with the central computer via serial which controls the real arm.