Development of a 4-DOF Robotic Arm for Lightweight Precision Automation

Abstract: As consumer interest in cost-effective and space-efficient automated solutions grows, there is an increasing requirement for versatile robot arms designed specifically for micro-industries and academic settings. The document outlines the creation and implementation of an affordable four-degree-of-freedom robot hand designed specifically for tasks requiring light weight in picking up objects and placing them down. A new design incorporates an integrated mechanical framework constructed of fused elements made from 5 millimeter-thick laser-etched acrylic panels paired with metallic parts for improved stability, longevity, and ease of installation. Integrating high-torque servomotors alongside an ESP32-controlled system enabled highly accurate, consistent, and coordinated movement of joints. Using SolidWorks/Fusion 360 for computer-aided design and kinematic simulation purposes was aimed at verifying the workspace range, power demands, and structural soundness of machinery.
This system utilizes pulse-width modulation for precise motor operation through an exclusive controller, facilitating coordinated movement and adaptable scaling capabilities. The experimental assessment showcased dependable management capabilities for objects ranging in weight from 150 grams upwards while maintaining stable positioning precision and optimizing energy usage effectively. A newly engineered robot hand offers economical solutions tailored for lab efficiency, academic studies, and micro-industrial jobs, potentially improving performance via sensors, wireless connections, and smart visual control systems.