HardLabs

RoboArm

anissa-elias·RoboArm·hardware/electronics/custom_arm.kicad_sch

This repository ships a schematic but no board layout.

About the RoboArm PCB

RoboArm is an open source AVR/Arduino PCB design by anissa-elias, published on GitHub. It is a board, with 58 components from 26 distinct parts.

Its main chip is the Arduino Mega 2560 R3, from the AVR/Arduino family. Other key parts include the Raspberry Pi 5 8GB and XL4015 buck, set 6.0 V. By type, the board carries 15 resistors, 14 capacitors, 7 modules, 3 ICs, 3 fuses and 1 relay.

It belongs with the robotics & motion designs in this gallery.

From the project

Single-sheet KiCad 9 schematic of the full RoboArm wiring. Every board pin is shown; parts are joined by drawn wires (red = 24 V bus, black = motor ground return, orange = 6 V servo rail).

Single-sheet KiCad 9 schematic of the full RoboArm wiring. Every board pin is shown; parts are joined by drawn wires (red = 24 V bus, black = motor ground return, orange = 6 V servo rail).

Edit the generator, not the .kicadsch` file, so the two stay in sync.

- TMC2209 module pin names differ between vendors; check the silkscreen. - TMC2209 VM maximum is about 29 V: 24 V only. - Set each driver's current and the buck module's 6.0 V output with a meter before connecting motors or the servo. - Confirm the AS5600 modules run at 5 V.

Main components on the RoboArm

Raspberry Pi 5 8GBArduino Mega 2560 R3XL4015 buck, set 6.0 V

RoboArm bill of materials (BOM)

58 components, 26 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
Raspberry Pi 5 8GB
U1
1
Arduino Mega 2560 R3
U2
1
XL4015 buck, set 6.0 V
U6
3
17HS19-2004S1
M1, M2, M3
3
17HS08-1004S
M4, M5, M6
1
MG995 / MG996R gripper servo
M7
6
TMC2209 module (StepStick)
DRV1, DRV2, DRV3, DRV4, DRV5, DRV6
1
J1 encoder, AS5600 module
ENC1
1
J2 encoder, AS5600 module
ENC2
1
J3 encoder, AS5600 module
ENC3
1
J4 encoder, AS5600 module
ENC4
1
J5 encoder, AS5600 module
ENC5
1
J6 encoder, AS5600 module
ENC6
1
10 A main
F0
1
2 A
F1
1
3 A
F2
1
24 V 30 A relay
K1
1
Lab bench supply: 24 V, 3 A limit (later: Mean Well LRS-200-24)
PS1
1
Official Pi 27 W USB-C supply
PS2
1
E-STOP (NC, latching)
SW1
Show 6 more
QtyPartRefs
7
100nF
C1, C2, C3, C4, C5, C6, C8
1
1000uF
C7
6
100uF 35V
C20, C21, C22, C23, C24, C25
7
1k
R1, R2, R3, R4, R5, R6, R13
6
10k
R21, R22, R23, R24, R25, R26
2
1k (UART TX)
R31, R32

RoboArm design files

The KiCad project lives in the anissa-elias/RoboArm repository on GitHub; these links point at the commit this page was built from.

RoboArm: common questions

What microcontroller does the RoboArm use?

The RoboArm is built around the Arduino Mega 2560 R3, from the AVR/Arduino family.

How many components are on the RoboArm?

58 components, from 26 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the RoboArm design files?

From the anissa-elias/RoboArm repository on GitHub, which has the schematic and the BOM; the links under Design files point to each one.

Can I use the RoboArm design in my own project?

The repository has no license, so all rights stay with anissa-elias. Use it as a reference, and ask the author before reusing the design.

Can I test firmware for the RoboArm without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug AVR/Arduino firmware against it before you order a PCB.

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