Build: EV3 5DOF ARM

We present here a robotic arm with 5 DOF using the 3 EV3 motors, we created a mechanism that allowed to redirect the motors torque to different parts of the arm. Unfortunately, we did not manage to reinforce the structure to make it work properly. :-(

Both motors in the body structure rotate the center wheel mechanism to change the point of contact with the wheels corresponding to different parts of the arm. There are 4 circuits: 

- Rotate the structure with the rubber tires

- Move the arm up and down

- Move the arm forward and backwards

- Rotate the hand up and down

Finally the 3rd EV3 motor is used to open and close the hand.