I want to improve my understanding of inverse kinematics and I figured there is no better way to learn than research combine with a project. I chose a five degree of freedom robotic arm as the perfect project for this. All designs are being made from scratch and all parts are structural parts are being printed on my Ender 3d printer.

My initial goal for this arm is to use it to flip an egg (either directly controlled or via a hard coded movement path). I believe this is a good benchmark for kinematic control. Eventually I want to combine this arm with a computer vision system so it can preform more automated tasks, such at monitoring the cook level of an egg and flipping at the appropriate time. This will serve as a good entry project into computer vision.

All strength and structural calculation have been completed. Now I am underway on the building process. Below are some photos of early math and layouts. Photos on this page are not up to date. More updates to come.