robotic arm

4-DOF Robotic Arm: Mechanical Specifications 1. Kinematic Structure (Estructura Cinemática) Joints: 4 Revolute joints (R-R-R-R). Degrees of Freedom: * Base (Waist): Horizontal rotation (Z axis). Shoulder: Main vertical elevation (Y axis). Elbow: Secondary vertical flexion (Y axis). Wrist: Tool pitch and leveling (Y axis). 2. Power Transmission (Transmisión de Potencia) High-Torque Joints (Shoulder/Elbow): Designed for Gear Reduction or GT2 Timing Belts. This multiplies motor torque and prevents the arm from "falling" under its own weight. Bearings: Dual ball-bearing support in each pivot to eliminate radial play and ensure smooth movement. Backlash Control: Integrated tensioners for belt drives or tight-tolerance gear meshing in the CAD design. 3. Material & Fabrication (Materiales y Fabricación) Chassis: Lightweight 6061 Aluminum profiles for the main segments (links) to reduce inertia. Joint Housings: Optimized for 3D Printing (ABS/PETG/Nylon) with high infill (60-80%) for structural rigidity. Hardware: M3/M4 stainless steel fasteners and 8mm/10mm steel shafts for the main pivots. 4. Payload & Reach (Carga y Alcance) Center of Mass (CoM): Motors for the elbow are shifted towards the base via belt transmission to minimize the weight at the end-effector. End-Effector Interface: Universal mounting plate for interchangeable tools (groundwater sensors or soil grippers). CAD Deliverables (SolidWorks): Exploded Views: Detailed assembly with all hardware and bearings. Motion Study: Verified limits of travel to prevent mechanical interference. BOM (Bill of Materials): Comprehensive list of structural parts and fasteners.