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How to build a simple robotic arm from Lego Mindstorms NXT?

by roksraka on July 10, 2008

Table of Contents

intro: How to build a simple robotic arm from Lego Mindstorms NXT? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

step 1: Constructing the base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

step 2: Building the "rotation module" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

step 3: Building the "tilt module" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

step 4: The claw module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

step 5: Attaching the sensors and wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

step 6: Attaching the NXT brick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

step 7: Decoration and finishing touches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

step 8: Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

step 9: THE END . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

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intro: How to build a simple robotic arm from Lego Mindstorms NXT?
Today, I will tell you how I built my robotic arm from Lego Mindstorms NXT.

In fact, I wanted to build a robotic tripod for my camera. I found out, that it's more difficult then it looks. After some experimenting I build this simple robotic arm.

I you want to build it too, you need:

- Lego Mindstorms NXT kit
- a computer
- time...?

There are only two rules you have to follow while building ANY robot:
1. rule: KISS (Keep it simple, stupid!);
2. rule: "The triple-F" rule a.k.a. FFF (Form following function!)

step 1: Constructing the base

The base is probably the simplest part of the robot to build. It's just a platform from the robot to stand on. You have to make sure, that it's long and wide enough. The
center of gravity must be somewhere on top of the base, if possible, in the middle. Else wise, the robot will fall.

The base (in our case) are just a few beams that support the robot. More advanced robotic arms have motors in the base. These motors than move the arm, without
moving themselves. Usually, the base has a motor that rotates the arm, but my arm rotates itself.

You can be much more creative with the construction of the robot then I was.

http://www.instructables.com/id/How-to-build-a-simple-robotic-arm-from-Lego-Mindst/
http://www.instructables.com/id/How-to-build-a-simple-robotic-arm-from-Lego-Mindst/
step 2: Building the "rotation module"
This is one of my rare robots that are built from modules. My robotic arm has three modules; one of them is the "rotation module".

It's very simple. It rotates the arm left and right and supports the other two modules. It's based on Matthias Paul Scholz's 90 degree join at:
http://mynxt.matthiaspaulscholz.eu/robots/motor90/index.html

http://www.instructables.com/id/How-to-build-a-simple-robotic-arm-from-Lego-Mindst/
step 3: Building the "tilt module"
The second module is the "tilt module". It's placed on the top of the "rotation module". Basically, we have a large gear (which doesn't turn) and a small gear which is
driving around the big one. The gear ration is 1:10. That way, the arm can be more precise.

On top of this module there is a small platform, to which the claw is attached, but more about the claw later!

Attaching the two modules together couldn't be simpler. They are held together by a single shaft/axle, around which the "tilt module" spins. The arm can tilt for nearly 90
degrees, that's a lot!

http://www.instructables.com/id/How-to-build-a-simple-robotic-arm-from-Lego-Mindst/
step 4: The claw module
This is the simplest of three modules. All it does is open and close the most basic kind of claws. This module is attached to the platform on the "tilt module".

I'm really sorry, but I'm afraid that I can't tell you much more about it. Pictures tell everything...

step 5: Attaching the sensors and wiring

I used three sensors: light sensor, touch sensor and sound sensor.

The light sensor (Port 3) is located on the claw and lets the robot know, if the ball is there or not (and can recognize the "color" of the ball). The other two sensors are
located on the platform of the "tilt module". Touch sensor (Port 1) serves as a sort of a button for me to press while the sound sensor (Port 2) measures the noise level
(so I can give the robot commands with a clap for example).

At first, I wanted to include the US sensor as well, but I realized that it's relatively useless. You can still see it on one of the photos, but I removed it afterwards.

Now all that is left to do is the wiring. You must make sure that the wires do not disturb the movement and function in any way. You must also consider wire lengths for
each sensor or motor.

Wiring (my robot):

- touch sensor -> Port 1
- sound sensor -> Port 2
- light sensor -> Port 3
- "rotation" motor -> Port A
- "tilt" motor -> Port B
- the claw -> Port C

http://www.instructables.com/id/How-to-build-a-simple-robotic-arm-from-Lego-Mindst/
http://www.instructables.com/id/How-to-build-a-simple-robotic-arm-from-Lego-Mindst/
step 6: Attaching the NXT brick
The NXT brick plays the vital role in Mindstorms NXT robotics, so you have to have it somewhere on the robot (or at least somewhere close). In my case only two brick
hold together the NXT brick and the robot's base. It's very practical to have it on the base of the robot, 'cuz that makes the robot much more stable.

step 7: Decoration and finishing touches

When you are pleased with how your robot works, you can put some effort into robot's looks. (Just remember the Triple-F rule!) I usually just put some of those odd
orange bricks on the robot and that is usually that.
You can be much more creative...

step 8: Programming
There are 5 programming languages you can use: NXT-G (default language), NXC (not exactly C), Robolab, Robotc, pbLua and NXJ. I used NXT-G (however I a bit tired
of NXT-G and that's why I am trying to run away from Mindstorms...).

You are very free with your programming, that's why I won't talk about the programming any more.

step 9: THE END

So, that's that! Here is a short video!

Video

http://www.instructables.com/id/How-to-build-a-simple-robotic-arm-from-Lego-Mindst/
http://www.youtube.com/watch?v=VrfNUhzBoww

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Comments
50 comments Add Comment view all 116 comments

james.mcglashan says: Mar 22, 2009. 1:23 AM REPLY

can tu just use the componets and microbric to do it all betta

james.mcglashan says: Mar 22, 2009. 1:24 AM REPLY

or an Arduino

amando96 says: Mar 7, 2009. 8:34 AM REPLY

i dont like NXT, too expensive, and it limits the imagination... i made a robot arm with 4 servos and an arduino, hard to program but it looks nicer, at least to
me...

the_burrito_master says: Jul 11, 2008. 7:58 AM REPLY

I want the lego nxts *sob so bad *cry

mettaurlover says: Feb 1, 2009. 7:04 PM REPLY

on the up side, the old mindstorms was MUCH nicer to work with...
i know because i've used the old one and have an NXT. they're just a pain to work with because you can't chain the wires to make them longer and the
wires are stiff. also, the motors are much larger than the old sets.

roksraka says: Feb 2, 2009. 7:23 AM REPLY

yes, I have both of them too! We need RIS with NXT programming :D

mettaurlover says: Feb 19, 2009. 2:40 PM REPLY

i only have the NXT, but have used the old kits.

pyro1324 says: Feb 28, 2009. 9:33 AM REPLY

I do not have nxt but i'm planning on getting it soon...

TeacherOfTheWays says: Jul 11, 2008. 10:03 AM REPLY

agreed *cry*

the_burrito_master says: Jul 11, 2008. 11:04 AM REPLY

yeah... *sob*

118118 says: Aug 15, 2008. 10:42 AM REPLY

me too *waaaah*

the_burrito_master says: Aug 15, 2008. 12:12 PM REPLY

I'm still sobbing ;'(

http://www.instructables.com/id/How-to-build-a-simple-robotic-arm-from-Lego-Mindst/
 hassannaeem101 says: Aug 19, 2008. 10:35 PM REPLY
*cry* too expensive :(

Derin says: Nov 30, 2008. 1:32 AM REPLY

download LDD and that has some nxt stuff it basically has all the lego parts there is

the_burrito_master says: Aug 20, 2008. 11:20 AM REPLY

yeah sob sob

dombeef says: Dec 30, 2008. 7:43 PM REPLY

I have one

the_burrito_master says: Dec 31, 2008. 11:52 AM REPLY

yeah every one but me seems to....

dombeef says: Dec 31, 2008. 3:28 PM REPLY

lol

the_burrito_master says: Dec 31, 2008. 4:08 PM REPLY

you shut up!

jk, jk

dombeef says: Feb 15, 2009. 6:04 PM REPLY

NEVER!!!!!!! lol

the_burrito_master says: Feb 16, 2009. 11:06 AM REPLY

now you shut up!!!. jk again....

dombeef says: Feb 22, 2009. 5:54 PM REPLY

what does JK meanbut, NO YOU SHUT UP! lol lol lol lol

the_burrito_master says: Feb 25, 2009. 4:12 PM REPLY

JK means just kiddin'.

SHUT THE POO UP ALREADY!!!!

dombeef says: Feb 25, 2009. 5:24 PM REPLY

Naw....SHUT THE CRA~(lol) UP!

Mad Cat says: Aug 20, 2008. 11:27 PM REPLY

i have it ;)

looking4ideas says: Aug 21, 2008. 8:47 AM REPLY

Im geting it

Koolraap says: Aug 29, 2008. 1:37 PM REPLY

I've got two :P plus an rcx 2.0 :D

http://www.instructables.com/id/How-to-build-a-simple-robotic-arm-from-Lego-Mindst/
 YummyPancakes says: Aug 29, 2008. 3:24 PM REPLY
Ooh, beat me at the RCX! I have two NXT's as well, retail version. There are also a bunch of 'em at my school.
Teacher lets us play with 'em every Thursday.

Koolraap says: Aug 31, 2008. 8:51 AM REPLY

copycat !
our i used to be in a team that competed world wide, we placed 3rd in the Netherlands :D
the worldwide competition is called first Lego league, ask your teachers if you may compete with a team at school,
u might get lucky :D

OVERLORD1235 says: Oct 25, 2008. 7:45 AM REPLY

how many nxts you got? i got 3 and getting another 2 for my birthday (lol my parents are loaded) ;]

dombeef says: Dec 30, 2008. 7:44 PM REPLY

Lucky, I have one too but its the only one i get.lol

YummyPancakes says: Sep 12, 2008. 12:17 PM REPLY

That's actually what I was talking about. I've been doing it for the past year, actually. Last year's challenges
were easy, this year's ones are HARD!

Oh, and guess what our team name is.

YummyPancakes says: Sep 12, 2008. 12:18 PM REPLY

Oh, err, sorry if I was straying off topic a little there.

looking4ideas says: Sep 16, 2008. 1:27 PM REPLY

whats ur teams name? The Pancakes?

YummyPancakes says: Sep 20, 2008. 8:09 PM REPLY

No -- lol, you're going to crack up at this -- It's The Flaming Fumachus (Mexican curly mustache
style).

looking4ideas says: Sep 21, 2008. 1:05 PM REPLY

lol

is there any mexicans in ur team ?

Wareagle says: Oct 20, 2008. 7:08 PM REPLY

this is the most replies to replies ive ever seen! lol.

YummyPancakes says: Oct 21, 2008. 5:05 AM REPLY

But it's not the most you ever will...

Koolraap says: Oct 21, 2008. 8:31 AM REPLY

And now there are even more replies :P

roksraka says: Sep 21, 2008. 3:33 AM REPLY

guys! my instructable is not a forum!!!

looking4ideas says: Oct 22, 2008. 12:05 PM REPLY

U rnt the boss of us! or RU?

http://www.instructables.com/id/How-to-build-a-simple-robotic-arm-from-Lego-Mindst/
 Koolraap says: Oct 22, 2008. 1:48 PM REPLY
who cares :P
still fun around here

looking4ideas says: Oct 23, 2008. 12:55 AM REPLY

People lets go for a record. The longest reply chain that stays on topic of the
Instructable

BenneyBoy444 says: Feb 13, 2009. 12:40 PM REPLY

Good idea!!

roksraka says: Oct 26, 2008. 2:57 PM REPLY

then do it!

Koolraap says: Oct 23, 2008. 7:15 AM REPLY

sure,
tho we haven't build a robot arm jet for our competitive robot :P

Derin says: Dec 8, 2008. 1:01 AM REPLY

i made a rotating robot

Hayhick says: Feb 9, 2009. 2:21 PM REPLY

just wondering,do you only needone kit or more parts

looking4ideas says: Feb 13, 2009. 2:23 PM REPLY

omg there is only 2 more weeks till the competition and my robot is
still not ready im freaking out

YummyPancakes says: Feb 14, 2009. 7:16 PM REPLY

Our competition is long over :P We didn't win, came close though.
(There were so many teams competing in our area, that we has to
have a qualifying competition before the real one. We qualified
with 2nd place.)

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