Keyestudio 4DOF User manual

Keyestudio 4DOF Robot Arm Kit for Arduino DIY

Contents
1. Overview ............................................................................. 1
2. Features ...............................................................................2
3. Kit List ..................................................................................4
4. Assembly Guide ...................................................................9
(1) Install the base of the robotic arm .............................. 9
(2) Mount servos onto the base ......................................14
5. Robot Arm Projects ........................................................... 66
Project 1: Install Arduino IDE and Driver .........................66
(1) Installing Arduino IDE ......................................... 73
(2) Installing Driver of V4.0 Board............................ 74
(3) Arduino IDE Setting ............................................ 79
Project 2: 4DOF Rotation and Pin Control...................... 85
1) Joint Rotation and Servo Angle Settings ............. 85
2) Pin Control ........................................................... 86
Project 3: Control the Robot Arm by Joysticks ................87
3.1 Servo Control ..................................................... 87
3.2 Read the Joystick Value ...................................... 95
3.3 Dual-Joystick Control ....................................... 100
3.4 Add Memory Function ..................................... 111
Project 4: BT-controlled Robot Arm ...................................157
Principle of BT Control ........................................ 157
Bluetooth Control Key Test ..................................159

Bluetooth Controls the Robotic Arm ..................... 168
Project 5: PS2-controlled Robot Arm (Extension) ......... 179
5.1 PS2 Joypad Key Test ......................................... 179
5.2 PS2 Joypad Control .......................................... 189
5.3 PS2 Controlling Posture Memory ..................... 205
5.4 PS2 Controls Posture Memory and Loop ......... 225

1
1. Overview
DIY is the activity of making or repairing things yourself,
especially in your home. Historically, it has been popular all
over the world since 1960s, making our routine life interesting.
Combined with STEM education, DIY products can greatly
cultivate teenagers’ imagination and creativity.
Therefore, we Keyestudio R&D group rolls out an amazing
4DOF mechanical arm kit, which contributes to improving kids’
hand-on ability, logical thinking and observation ability.
It is easy to build to say the least. In fact, the four servos of this

2
robot arm are controlled by V4.0 control board and two
joystick modules. What ’ s more, the detailed tutorials are
provided for you even you are a starter.
For this mechanical robot arm, there are three methods to
control. The first one is controller handle we provide(joystick
modules), the second one is App; and the third one is wireless
PS2 joystick module(not included in this kit).
I believe that you can’t help getting down with this kit.
Next, let’s get started.
2. Features
You can check out these features:
Detailed installation instructions
Detailed debugging methods, starting Arduino from entry.
Three controlling methods: Wired JoyStick Control; Phone
Bluetooth Control; Wireless PS2 JoyStick Control.

3
The parameters of keyestudio servo motor/ drive shield are
as follows:
VIN voltage: VIN = DC 7-15V
VIN current: 5A
Two-channl 5V output: 5V/3A
PS2 interface: compatible with Sony PS2 receiver, can be
plugged directly into the expansion board.
Dimensions: 73*53.34mm

4
3. Kit List
You can see a pretty beautiful packaging box for the arm kit,
and inside the packaging you will find all the parts and screws
listed below.
Note: Peel the plastic film off the board first when you install
robotic arm.
No.
Item
QTY
Picture
1
Keyestudio
V4.0
Control Board
1
2
Keyestudio
Servo Motor
Driver Shield
1
3
Acrylic Boards
1

5
4
Acrylic Handle
1
5
MeArm ABS
Cylindrical
Holder
1
6
180° Black
Servo
4
7
BT-24
Module
1
8
Keyestudio
Joystick
Module
2
9
3D PS2
Joystick Cap
2

6
10
3*40MM
Screwdriver
1
11
Galvanized
Wrench
1
12
M3*6MM
Round
Head Screws
12
13
M3*10MM
Round
Head Screws
22
14
M3*14MM
Flat
Head Screws
2
15
M3*12MM
Round
Head Screws
12
16
M3*24+6MM
Copper Pillar
4
17
M3*6mm+6m
m
Copper Pillar
10

7
18
M3 Stainless
Steel Hex
Nuts
22
19
M3 Hexagon
Nuts
24
20
M1.2x5MM
Phillips
Self-tapping
Screws
8
21
M2x5MM
Phillips
Self-tapping
Screws
10
22
M3 304
Stainless Steel
Flat Washer
10
23
M2x8MM
Phillips
Self-tapping
Screws
2
24
M3*16MM
Flat
Head Screws
2
25
Male-Female
10CM
Jumper Wire
4

8
26
Female-
Female 50CM
Jumper Wire
10
27
Black
3*100MM
Cable Ties
7
28
18650 2-Slot
Battery
Holder
1

9
4. Assembly Guide
(1) Install the base of the robotic arm
Components Needed:

10

11

12

13
The base is installed successfully.

14
(2) Mount servos onto the base
Components Needed:

15

16
Assemble a servo(left) onto the left board

17
Components Needed: