Barman Robotics Arm

This is a solid foundation for a service robot. Using NEMA motors with planetary gearboxes is a smart move—it gives you that smooth, high-torque motion necessary to avoid spilling drinks (especially when dealing with the inertia of a full cup). Moving to an ESP32-C3 also opens up great possibilities for a web-based interface. Here is a breakdown of your prototype in English, organized by technical specs and potential use cases. Technical Specifications 1. Kinematics & Mechanics 3-Axis Configuration: Designed for versatile positioning, allowing the robot to adapt to various container heights, from espresso cups to tall glasses. High-Torque Drive: Utilizes NEMA stepper motors paired with planetary gearboxes. This setup maximizes torque-to-weight ratio, ensuring precise movement even under heavy liquid loads. 2. Fluid Management Dual-Channel System: Features two independent inlets, allowing the robot to serve two different beverages (e.g., water and juice, or coffee and milk) without cros