5-DOF Robot Arm

September 10, 2025

The 5-DOF Robot Arm is an educational robotic system designed to replicate human arm movements with precision, suitable for industrial pick-and-place demonstrations and training purposes.

Technical Overview

The arm is operated using a custom Python-based GUI with real-time 3D visualization, manual and sequence control, and motion recording/playback.

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The project integrates:

  • Six servo motors—three MG996R high-torque servos for the base, shoulder, and elbowelbow.

  • Three SG90 micro servos for the wrist and gripper—into a lightweight PLA 3D-printed structure

The control solution employs a dual-ESP32 architecture:

  • One microcontroller handles precise servo control via PWM

  • The other monitors system performance through five INA219 current sensors