Devlog 1 : The arm begins

I finished building my first prototype of the arm. This is going to likely be my base for the whole project until I am able to buy parts and a 3d printer for this project.

Configuration

Currently here is the configuration
Base is driven by a 28BYJ-48 Stepper motor
Shoulder is driven by a MG996R
Elbow Wrist and Claw are driven by MG90S

This should hopefully lead to a maximum range of 10-11 inches with a max load of around 200-250 grams.

Hopefully, I will be able to power this with an ESP32-S3 in order to run machine learning algorithms and inverse kinematics that way I can identify and pick up objects autonomously.