Robotic Arm

Here is my first prototype for a desktop sized robotic arm. Currently, it has 4 degrees of freedom and is controlled by potentiometers on a custom remote control. I chose to use an Arduino to process the analog inputs from the potentiometers and to send the PWM signal outputs to the servos, since it's only being controlled via remote for now. I plan to expand this project by integrating the mechanics I have built here with the ROS environment to create an automated process for this little guy. Specifications: Name: Albert Type: 4 bar linkage - 5 DOF Shoulder Servo Torque: 35kg-cm at 7.2v* Elbow Servo Torque: 35kg-cm at 7.2v* Wrist Servo Torque: 3.3kg-cm at 4.8v* Finger Servo Torque: 1.8kg-cm at 5v* Waist Servo Torque: 16.5kg-cm at 9v* Operating Voltage: 7.2v-(two 18650 cells) / 5v-(from Microcontroller)