 NEMA 17 is a hybrid stepping motor with a 1.8° step angle (200 steps/revolution).

Each phase draws

1.2 A at 4 V, allowing for a holding torque of 3.2 kg-cm. NEMA 17 Stepper motor is generally used in
Printers, CNC machines and Laser Cutters.

These motors has a step angle of 1.8 deg, hence the level of control is also high.
These motors run on 12V and hence can provide high torque.
Since we are looking for a compact easy to use stepper motor with high torque then this motor is the
right choice for our ARM.


ULN2003 Driver Module
This is ULN2003 Driver Module Stepper Motor Driver, small size and easy to use.
It uses the ULN2003 driver chip to amplify the control signal from the Arduino.
This Ultra Lightweight and cheap option commonly used to run and control the small applications stepper
motors.
Its pin configuration is designed so that the input pins are at the left side of the IC whereas
the output pins of it are on right side in front of the corresponding input pin.
SERVO FOR GRIPPER

Servo motors are devices that can turn to a specified position.

A servo motor has everything built in: a motor, a feedback circuit,

and most important, a motor driver. It just needs one power line,
one ground, and one control pin.

From the picture we can understand that the PWM signal produced should have a frequency of 50Hz that
is the PWM period should be 20ms. Out of which the On-Time can vary from 1ms to 2ms. So when the
on-time is 1ms the motor will be in 0° and when 1.5ms the motor will be 90°, similarly when it is 2ms it
will be 180°. So, by varying the on-time from 1ms to 2ms the motor can be controlled from 0° to 180°
POWER SUPPLY

A switched-mode power supply (SMPS) is an electronic circuit that converts power using
switching devices that are turned on and off at high frequencies, and storage components
such as inductors or capacitors to supply power when the switching device is in its non-
conduction state.

Features:
SMPS
12V
20Amp
240w
Efficiency 86%
Overload Protection
Short Circuit Protection
ARDUINO
The Arduino Uno is an open-source microcontroller board based on the Microchip ATmega328P
microcontroller and developed by Arduino.cc. The board is equipped with sets of digital and
analog input/output pins that may be interfaced to various expansion boards and other circuits

Arduino is designed to make electronics more accessible to artists, designers, hobbyists

and anyone interested in creating interactive objects or environments.

Arduino IDE

The open-source Arduino Software (IDE) makes it easy to write code and upload it to the board. It
runs on Windows, Mac OS X, and Linux. The environment is written in Java and based on Processing
and other open-source software.
This software can be used with any Arduino board.