Robot Arm V2

I started the second iteration at age 17, aiming for higher-quality components and no exposed wires. I wanted all joints to be closed-loop systems. I designed a stepper servo PCB (detailed in a separate project) that attaches to the back of each stepper motor and supports daisy-chaining. This reduced wiring significantly and enabled an elegant design. The robot was controlled by an ESP32, but I never completed the control software, leaving it unfinished due to college commitments. I did get it moving and operational, though it remains unprogrammed. I hope to finish it after college.

The upgraded design included better materials for durability and precision bearings for smoother operation. Integration with custom controllers allowed for advanced features like adaptive torque.