WinchBot 2.0 - robotic arm made of winches

The gripper of my robotic arm is moved by three winches. The platform at the end of the cables is aligned in parallel to the surface by two stepper motors and two servos can rotate and tilt the gripper that is actuated by a third servo. The brain of the robot is a Simatic IOT2020.

The control software is written in C and the webserver "Monkey" runs on the IOT2020 so that the robot can be controlled through a browser interface.

It's not meant to be an industrial application, but a nice learning tool. It's a great machine to teach about coordinate transformation from X/Y/Z to cable length using the Pythagorean theorem and trigonometry.

The build instruction including the schematics and source code is available on my project page:

https://homofaciens.de/technics-machines-winchbot-2-0_en.htm