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In progress / prototypingPassion project / mechatronics prototype

Sensor-Activated Robotic Arm

Currently designing and prototyping a 3 DoF sensor-triggered robotic-arm. Design challenges include end effector accuracy, weight distribution, and lowering torque demanded on servos. Iterations are implemented via Fusion 360 and VSCode.

  • Working on the end effector accuracy and CAD redesign.

Version Timeline

V1, DETAIL
V1 gripper CAD render, assembled front view
V1 gripper exploded view with Arduino Nano and gear train
V1 gripper top-down view with MS24 servo and gear linkage
V1 gripper gear train close-up with MS24 digital servo
  • Used MS24 servo for initial actuation
  • First functional/prototype end-effector
  • Proved basic grabbing concept
  • Exposed weight, motion accuracy, and fit/tolerance issues
Servo
MS24, high torque, heavy for the assembly
End effector
First functional gripper, proved concept
Sensor
VL6180X ToF, proximity-triggered actuation
Main issue
Weight, accuracy, and fit/tolerance failures

Visual Creation Journey

VID.01, GRIPPER TEST

CAD + Fabrication

  • Fusion 360 used for arm geometry, end-effector design, and print-ready exports
  • PLA 3D printing for functional prototype parts
  • Cardboard and styrofoam for fast early-form exploration before committing to prints
  • CAD → prototype → test → redesign loop to resolve geometry, printability, and assembly issues
  • Iterating on joint clearance, clip dimensions, and material use between versions

Embedded Control + Sensor Integration

  • PlatformIO / VS Code workflow for firmware development and upload
  • C / Arduino-style embedded code for servo actuation and sensor reads
  • VL6180X ToF sensor input for proximity-triggered end-effector behavior
  • Debugging across library compatibility, upload failures, sensor detection, and serial monitor output
  • Touch input integrated as an additional control signal during prototyping

Next development focus

IN PROGRESS
  • Print and assemble the V3 arm and end effector for bench testing
  • Validate RDS3225 torque and joint clearance under load
  • Tune VL53L0X proximity thresholds for reliable grip triggers
  • Iterate jaw geometry and linkage tolerances after first print
Next Case FileWaterborne Rescue Vessel