# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: DIY 6-DOF Servo Robotic Arm
summary: A custom 6-DOF robotic arm built from 3D-printed parts, driven by an Arduino Mega and PCA9685 servo driver, with serial servo angle control.
category: arm
difficulty: intermediate
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/vshreyas121-code/6-dof-robotic-arm
  ref: 258d1893ba1b8b49e87baa79da462680fd53681b
tools:
  - 3D printer
  - screwdriver
  - soldering iron
files:
  parts_3d: cad/STL/
  cad: cad/step/
  docs: docs/
  images:
    - images/finished-arm.jpeg
software:
  framework: arduino
specs:
  dof: 6
build_steps:
  - title: Design the arm in Onshape
  - title: 3D print the mechanical components
  - title: Assemble the arm with servo horns, screws, nuts and washers
  - title: "Wire the power distribution: LiPo battery, fuse, switch and 5V buck converter"
  - title: Wire the Arduino Mega 2560, PCA9685 servo driver and six servos
  - title: Upload the Arduino code and control the servo angles over serial
  - title: Test, calibrate and align the servos