Braccio

WOULD YOU LIKE TO BUY AN Braccio?

Overview
Unlock the unlimited possibilities of robotics with Braccio! You can assemble your Braccio in a multitude of ways. Here are some examples:Arduino Braccio Joints

Because it is designed for versatility, the Braccio can also support various objects on the end of the arm.
For example, you can use Braccio:

  • with your camera to follow a subject,
  • by mounting your telephone or your tablet to follow you when you’re at a video conference,
  • with a solar panel to follow the sun.
Arduino Braccio Objects

The TinkerKit Braccio is sold as a kit and requires assembly before use.  A setup guide is  included in the box, or you can download it here.

After assembly, you can adjust the alignment of all the motors by running the sketch called “testBraccio90” in the Braccio examples.
The sketch will position the Braccio in the upright position shown below. If it isn’t in this position, you will need to realign the servos (see the setup guide for details on how to do this).

Arduino Braccio Vertical




Download Braccio Quick Start Guidedownload arduino braccio start guide

General

Product Code

T050000

Power
It is recommended to power the board via the jack connection with a regulated 5 VDC @ 5000 mA power supply provided in the box.

There is an on-board voltage regulator for higher voltages that protect the Braccio shield. NOTE: The protection doesn’t work for the Arduino Yun if you put the bridge between Vin and 5V.
Physical Characteristics
  • Plastic Parts x 21
  • Screws x 63
  • Flat Washer x 16
  • Hexagon Nut x 7
  • Springs x 2
  • Servo Motors: 2 x SR 311, 4 x SR 431
  • Arduino compatible Shield x 1 
  • Power Supply 5V, 5A x 1
  • Phillips Screwdriver x 1
  • Double Hexagon Box Wrench x 1
  • Spiral Cable Protection Wrap x 1

Fully assembled Braccio Kit: 

Weight

792 g

Maximum operating distance range

80 cm

Maximum Height 

52 cm

Base Width

14 cm

Gripper Width

90 mm

Cable length

40 cm

Load Capacity

Maximum weight at 32 cm operating distance: 150 g

  Maximum weight at the minimal Braccio configuration: 400g

Braccio Shield: The maximum length and width of the Braccio Shield PCB are 2.7 and 2.1 inches respectively, with the power jack extending beyond the former dimension. Four screw holes allow the board to be attached to a surface or case. Note that the distance between digital pins 7 and 8 is 160 mil (0.16"), not an even multiple of the 100 mil spacing of the other pins.
Servo Technical Specification
SpringRC SR431 - Dual Output Servo

Control Signal

PWM Analog

Torque

@ 4.8V: 169.5 oz-in (12.2 kg-cm)

@ 6.0V: 201.4 oz-in (14.5 kg-cm)

Weight

2.19 oz (62.0 g)

Dimentions

1.65×0.81×1.56 in (42.0×20.5×39.5 mm)

Speed

@ 4.8V: 0.20 sec/60°

@ 6.0V: 0.18 sec/60°

Rotation Support

Dual Bearings

Gear Material

Metal

Rotation Range

180°

Connector Type

J (aka Futaba)

SpringRC SR311

Control Signal

PWM Analog

Torque

@ 4.8V: 43.13 oz-in (3.1 kg-cm)

@ 6.0V: 52.86 oz-in (3.8 kg-cm)

Weight

0.95 oz (27.0 g)

Dimentions

1.23×0.65×1.13 in (31.3×16.5×28.6 mm)

Speed

@ 4.8V: 0.14 sec/60°

@ 6.0V: 0.12 sec/60°

Rotation Support

Dual Bearings

Gear Material

Metal

Rotation Range

180°

Connector Type

J (aka Futaba)

Schematic & Reference Design

EAGLE files: Braccio-Shield-reference-design.zip (coming soon)
Schematic: Braccio-Shield-schematic.pdf (coming soon)

Getting Started

Specifics
The included Braccio shield allows you to hook up the servos directly to your Arduino board.

Arduino Braccio Shield

Operating Voltage 

5V

Power Consumption

20mW

Max current

1.1A from M1 to M4 connectors

750mA from M5 and M6 connectors

It has 12 standard TinkerKit 3-pin connectors. 

The connectors labeled M1 through M6 are connected to the PWM capable outputs of the Arduino board.  The connectors labeled I0 through I5 are analog inputs.

Each of the motor connections have a protection fuse:

  • M1 through M4 are limited to 1.1A
  • M5 and M6 are limited to 750mA
The connectors are connected to the following pins on the shield:

Connector Name

Shield pin

M1

11

M2

10

M3

9

M4

6

M5

5

M6

3

I0

A0 (aka pin 14)

I1

A1 (15)

I2

A2 (16)

I3

A3 (17)

I4

A4 (18)

I5

A5 (19)

TWI

SDA, SCL

SERIAL

RX0, TX0

The 4-pin TWI connector allows your Arduino board to communicate with devices that support the TWI (Two Wire Interface) or I2C (Inter-Integrated Circuit) protocol through the Wire library in Arduino.  Ground and 5 volt connections are provided on the connector.

NOTE:  On the Arduino UNO, the I2C bus uses Analog Input 4 and 5 (A4 and A5), whereas on the Arduino Mega the I2C connection is on pins 20 and 21. Using the TWI connector on the UNO (and similar) will preclude the use of those analog inputs (A4 and A5).

The 4-pin SERIAL connector allows the board to communicate with other devices that support serial communication. Ground and 5 volt connections are provided on the connector for your convenience.

NOTE: If you’re sending or receiving data to and from the computer this serial connector is not available.

The shield contains three status LEDs

  • Green LED (LED ON) signals that the shield is on
  • Another green LED (LED OK) signals that the shield is correctly powered
  • A red LED (LED ERR) signals that the shield is not correctly powered
A standard 6 mm pushbutton allows you to reset the board, and there is a jack for the external 5V 5000 mA power supply.

Compatible Boards:

  • Uno
  • Uno SMD
  • Uno WiFi
  • Due
  • Mega 2560
  • Ethernet
  • Leonardo
  • Leonardo ETH
  • M0
  • M0 Pro
  • Yun*
  • Tian
Using the Arduino UNO WiFi, Leonardo Ethernet, Yún or Tian, you can control your Braccio through the network with your PC or your smartphone. See the link below for a demonstration.

*Note for the Arduino YÚN

to make it compatible with the shield, you must bridge the 5v pin to the Vin pin as shown below: 

Arduino Braccio Shield

To avoid an overheating of the Yun you need also to move the 5V pin outside the header as the picture below:

shieldbraccioyuntian

FAQ

If you couldn’t find what you were looking for, please see our Forum Section

The shield present in the Arm Kit is compatible with all the board-compatible pinout UNO R3
Arduino IDE supports Braccio from version 1.7.9 and later

Media