Robot Arm 6DoF
Robot Arm: 6 Degrees of Freedom
Specifications:
Arduino Mega
Ramps 1.4
TMC2208 Stepper Motor Drivers
TB6600 Stepper Motor Drivers
2 NEMA 23 Stepper Motors
2 NEMA 17 Stepper Motors
1 NEMA 11 Stepper Motor
480 Watt PSU: 0 - 24 V, 0 - 20 A
Arduino Mega/Ramps 1.4
Test Setup
NEMA 17: 45 N-cm 1.5A
Materials:
Electronics:
16 AWG Wire - Connecting PSU to Ramps 1.4 (Ramps supplies Arduino with 12 V)
22 AWG Wire - Wire to connect TB6600 Stepper Motors
Timing Belts, GT2 Pulleys
Filament: PETG, 1.75 mm
Tools Required:
Wire Crimper: Insulated Connectors, Dupont Connectors
Multimeter
Soldering Iron: Solder, Solder Tip Cleaner
Setting Vref
Setting Vref
TMC2208 Close Up
TMC2208 Driver
TB6600 Close Up
TB6600 Driver
Differences between Stepper Motor Drivers: A4988, DRV8825, TMC2208
Microstepping
Max Rated Amps
Setting Vref
Different Communications
A4988
DRV8825
TMC2208
Arduino Code:
Base code to test that all the connections work and the drivers are working with the arduino and stepper motors:
Enabling Stepper Motor Drivers. Reading the Ramps 1.4 and Arduino Mega Pinout
Ramps 1.4 and Arduino Mega Pinout:
Design:
inspiration
Wiring Diagram:
Connecting NEMA 17s to Ramps 1.4
Connecting NEMA 23s to TB6600
Connecting PSU to Ramps 1.4
Connecting Power Switch to PSU