HardLabs

RoboticArm

SensaGroup·RoboticArm·Arm_Mainboard/Arm_Mainboard.kicad_pcb

RoboticArm PCB layout, top view — open source ESP32 board by SensaGroup

About the RoboticArm PCB

RoboticArm is an open source ESP32 PCB design by SensaGroup, published on GitHub under the MIT license. It is a 2-layer board measuring 163.4 × 100.6 mm, with 95 components from 47 distinct parts.

Its main chip is the ESP32-WROOM-32U, from the ESP32 family. Other key parts include the MCP2200-I-SS, LM2678SX-3.3/NOPB, LM2678S-5.0/NOPB and Pololu_Breakout_A4988. By type, the board carries 32 resistors, 24 capacitors, 18 connectors, 4 ICs, 4 switches and 3 modules.

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

From the project

Genral repository for files pertaining to the robotic arm that is part of SENSA GROUP education.

RoboticArm, from the project README
From the project README

Main components on the RoboticArm

ESP32-WROOM-32UMCP2200-I-SSLM2678SX-3.3/NOPBLM2678S-5.0/NOPBPololu_Breakout_A4988

RoboticArm bill of materials (BOM)

95 components, 47 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
ESP32-WROOM-32U
U1
1
MCP2200-I-SS
U2
1
LM2678SX-3.3/NOPB
U3
1
LM2678S-5.0/NOPB
U4
3
Pololu_Breakout_A4988
A1, A2, A3
1
P_CH MOSFET
Q1
1
Resonator
Y1
1
JTAG
J2
1
USB PINOUT
J4
1
UART
J6
1
BOOT OPTION
J7
1
POWER
J8
1
FAN HEADER 1
J9
1
FAN HEADER 2
J10
3
CONN
J14, J22, J26
1
CONN_NEMA23_2
J16
1
NEMA23_2
J19
1
NEMA23_1
J20
1
ENC_AXIS1
J27
1
ENC_AXIS2
J28
Show 27 more
QtyPartRefs
1
ENC_AXIS3
J29
1
ENC_AXIS4
J30
1
ENC_AXIS5
J31
1
CONN_NEMA23_1
AXIS1
1
Fuse
F1
1
GPIO_PINOUT
MCP2200_GPIO
3
DIP SWITCH
S1, S2, S3
1
JTAG SELECTOR
S4
1
D_Zener
D3
2
D_Schottky
D4, D5
2
22uH
L1, L2
2
10uF
C1, C3
2
0.1uF
C2, C4
1
470nF
C5
2
100nF
C6, C7
2
15uF
C8, C9
6
CP
C10, C11, C12, C13, C14, C15
2
0.01uF
C16, C17
4
180uF
C18, C19, C20, C21
3
100uF
C22, C23, C24
1
1K
R1
2
5K1
R2, R3
6
100R
R4, R5, R6, R7, R9, R10
2
10K
R8, R12
1
470R
R11
10
2K
R13, R15, R17, R19, R21, R23, R25, R27 +2
10
3K9
R14, R16, R18, R20, R22, R24, R26, R28 +2

RoboticArm design files

The KiCad project lives in the SensaGroup/RoboticArm repository on GitHub; these links point at the commit this page was built from.

RoboticArm: common questions

What microcontroller does the RoboticArm use?

The RoboticArm is built around the ESP32-WROOM-32U, from the ESP32 family.

How big is the RoboticArm PCB?

The RoboticArm measures 163.4 × 100.6 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the RoboticArm?

95 components, from 47 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 RoboticArm design files?

From the SensaGroup/RoboticArm repository on GitHub, which has the KiCad layout and the BOM; the links under Design files point to each one.

Can I use the RoboticArm design in my own project?

Yes, under the terms of its MIT license, which SensaGroup chose for the repository.

Can I test firmware for the RoboticArm without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug ESP32 firmware against it before you order a PCB.

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