3R Planar Art Robot

I wanted to attempt to create a piece of generative art like Vera Molnar, the issue is how do you physically do that? The answer came in the form of a 3R planar robot that I found on the internet. So then I “CADed“ up my own and off I went. It uses three Dynamixels around the circumference of a 12inch circle. I was heavily influenced by the Robotis OpenManipulator, but wanted to make my own that was more affordable and for the most part easier to use. Sadly, I ran out of time to integrate ROS into the system.

For the most part I really enjoyed working on this project and will continue to do so, most of the code is straight forward and easy to understand. I cannot wait to see what other go and do with this.

The arms of the robot should be stacked on one another like this.

If you do choose to make this, the Robotis emanuel is your new best friend. I used the dynamixel shield for the MKR seires, three daisy chained XL_330's, a MKR 1010, and the printed parts-- you will need some screws and ball bearings for this project: please see the attached BOM. That should be about it, happy making!

*Please stay tuned will will continue to update this page as I get better pictures, and if you have any comments/questions/concerns leave it in the comments.