Bryce Martis

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Robotic Arm

2026-Present

A 3D-printed three degree of freedom arm designed in SolidWorks, driven by custom stepper circuitry and inverse kinematics running in C/C++ on an ESP32

Demonstration of IK with basic python mouse trackpad

Demonstration of new third degree of freedom (yaw rotational axis) with a trapezoidal test pattern

Closeup of the homing switch wiring on the arm base

Closeup of homing switch wiring

The assembled 2-DOF arm in front of the 3-DOF addon modelled in SolidWorks

2-DOF arm in front of the next 3-DOF addon in SolidWorks

Bearings seated in the yaw mechanism before the arm is attached

Bearings placed in yaw mechanism before the rest of the arm is attached