UR5-like Robotic Arm

A replica robotic arm based on the UR5 structure, featuring stepper motors, closed-loop control, and an Android app for interaction.

Robot arm
No license: all rights reserved by the creator
arduino
3D printable

Suggested by Robotheca, created by @1326323928 (opens in a new tab), from github.com/1326323928/RoboticArm-of-UR5-like (opens in a new tab). Pinned to commit 74964c5 (opens in a new tab).

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Hardware license: No license
Software license: No license
Commercial use: Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (1 program or installer)

03.AndroidApp/UHS_Controller.apk (opens in a new tab)

Its license doesn't let Robotheca show its photos.

See the photos on GitHub

Commercial use is not confirmed for this robot, so no preview is stored. View the STEP files on GitHub (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Moves six joints with stepper motors and closed-loop drivers
Single-axis manual control via Android app
Inverse kinematics control for first three axes via Android app

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

1Prepare mechanical components and 3D printed parts
2Assemble the robotic arm structure
3Install stepper motors and harmonic reducers
4Wire and solder the electronics
5Flash the ESP32 with Arduino firmware
6Develop and install the Android app for control

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guide Ask the creator on GitHub

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

ESP32 microcontroller as main controller
Six stepper motors with closed-loop drivers
Harmonic reducers on joints for higher torque
Android device for human-machine interaction

Connections

ESP32 connected to six stepper motor drivers
Stepper motor drivers wired to six stepper motors with harmonic reducers

Schematics, boards and diagrams

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 25/100Incomplete documentation
Parts: –
Tools: 3D printer, soldering iron, screwdriver set

Buildability25/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 74964c5. It isn't a rating of the robot.

3D and CAD files10/20
4 CAD source files.
Add the parts to print (STL or 3MF files).
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Instructions to install or run it, built on arduino.
Link to your code, or add it to this repository.
Documentation5/15
README of 710 characters with 0 pictures; 6 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it. Show the robot and its assembly in pictures in the README.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses0/10
Hardware: no license; software: no license.
Add a license for the hardware (e.g. CERN-OHL-S-2.0 or CC-BY-SA-4.0). Add a license for the software (e.g. MIT or Apache-2.0).

Software

Framework: arduino
License: NONE

How to run it

Written by Robotheca from the project's documents.

Flash ESP32 with Arduino firmware provided in the repository
Install the Android app from the repository
Connect Android device to ESP32 via Bluetooth or Wi-Fi for control

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit 74964c5.

Community

Questions and improvements go to the creator's repository.

Photo