# 2. Product installation

(1) Install the base of the robotic arm

Components Needed:

![](./media/image-20250825102752439.png)

![](./media/image-20250825102759644.png)

![](./media/image-20250825102819916.png)

![](./media/image-20250825102845492.png)

![](./media/image-20250825102904856.png)

![](./media/image-20250825102914123.png)

![](./media/image-20250825102922658.png)

![](./media/image-20250825102932504.png)

The base is installed successfully.

![](./media/image-20250825102946558.png)

(2)  Mount servos onto the base

Components Needed:

![](./media/image-20250825103002635.png)

![](./media/image-20250825103010946.png)

![](./media/image-20250825103021179.png)

![](./media/image-20250825103028933.png)

![](./media/image-20250825103038396.png)**Assemble a servo(left) onto the left board**

Components Needed:

![](./media/image-20250825103104353.png)

![](./media/image-20250825103112745.png)

![](./media/image-20250825103122184.png)

**a.Initialize the left servo**

Attach this left servo to G, V and S（6）of servo motor driver shield, upload the following code, plug in power and press the rest button on the V4.0 board. Then the left servo rotates to 180°.

![](./media/image-20250825103356046.png)

Download code file：[Servo_180](./Servo_180.7z)

**Test Code：**

```
#include <Servo.h>
Servo myservo; // create servo object to control a servo

void setup()
{
    Serial.begin(9600);
    delay(1000);
}

void loop()
{
    myservo.attach(6); // Change pin to adjust one by one
    myservo.write(180); //Angle
    delay(1000);
}
```

 Fix the arm：

![](./media/image-20250825104625440.png)

![](./media/image-20250825104712540.png)

![](./media/image-20250825104725429.png)

![](./media/image-20250825104735474.png)

![](./media/image-20250825104801262.png)

**Mount a servo(right) onto the right board**

Components Needed

![](./media/image-20250825104815469.png)

**Note the breach direction of acrylic board**

![](./media/image-20250825104836715.png)

![](./media/image-20250825104844529.png)



b. Initialize the right servo

Attach this left servo to G, V and S（A0）of servo motor driver shield, upload the following code, plug in power and press the rest button on the V4.0 board. Then the left servo rotates to 0°.

![](./media/image-20250825105153059.png)

Download code file：[Servo_0](./Servo_0.7z)

**Set the servo to 0°：**

```
#include <Servo.h>
Servo myservo; // create servo object to control a servo

void setup()
{
    Serial.begin(9600);
    delay(1000);
}

void loop()
{
    myservo.attach(A0); // Change pin to adjust one by one
    myservo.write(0); //Angle
    delay(1000);
}
```

![](./media/image-20250825105943006.png)

![](./media/image-20250825105952517.png)

![](./media/image-20250825110002028.png)

![](./media/image-20250825110010013.png)

![](./media/image-20250825110019858.png)

**Install the holder part**

![](./media/image-20250825110046018.png)

![](./media/image-20250825110054174.png)

![](./media/image-20250825110102954.png)

**Fix the left part and the mount part together**

![](./media/image-20250825110118956.png)

![](./media/image-20250825110126136.png)

![](./media/image-20250825110133667.png)

Fix the right part and the ABS holder together.

![](./media/image-20250825110154253.png)

Note the direction of the ABS holder.

![](./media/image-20250825110207706.png)

![](./media/image-20250825110216325-1756090944761-1.png)

![](./media/image-20250825110235236.png)

![](./media/image-20250825110305154.png)

![](./media/image-20250825110314288.png)

![](./media/image-20250825110328136.png)

![](./media/image-20250825110337867.png)

![](./media/image-20250825110345899.png)

![](./media/image-20250825110355572.png)

![](./media/image-20250825110403945.png)

**Install the middle part**

![](./media/image-20250825110417992.png)

![](./media/image-20250825110424661.png)

![](./media/image-20250825110433727.png)

![](./media/image-20250825110441834.png)![](./media/image-20250825115856331.png)



![](./media/image-20250825115935641.png)

![](./media/image-20250825110509825.png)



![](./media/image-20250825110517788.png)

![](./media/image-20250825110526816.png)

![](./media/image-20250825110535865.png)



![](./media/image-20250825111401395.png)

![](./media/image-20250825111411428.png)

![](./media/image-20250825111425067.png)

![](./media/image-20250825111435059.png)

Assemble the claw

![](./media/image-20250825111447548.png)

![](./media/image-20250825111454020.png)

![](./media/image-20250825111503560.png)

![](./media/image-20250825111512858.png)

![](./media/image-20250825111522276.png)

![](./media/image-20250825111552054.png)

![](./media/image-20250825111601337.png)

![](./media/image-20250825111609348.png)

![](./media/image-20250825111617283.png)

![](./media/image-20250825111629104.png)



![](./media/image-20250825111638096.png)

![](./media/image-20250825111817549.png)

![](./media/image-20250825111827956.png)

**c. Initialize the servo**

Attach this left servo to G, V and S（9）of servo motor driver shield, upload the following code, plug in power and press the rest button on the V4.0 board. Then the left servo rotates to 0°

![](./media/image-20250825112212304.png)

**Set the servo to 0°：**

Download code file：[1Servo_0.7z](./1Servo_0.7z)

```
#include <Servo.h>
Servo myservo; // create servo object to control a servo

void setup()
{
    Serial.begin(9600);
    delay(1000);
}

void loop()
{
    myservo.attach(9); // Change pin to adjust one by one
    myservo.write(0); //Angle
    delay(1000);
}
```

**Mount gear wheels：**

![](./media/image-20250825113028400.png)

![](./media/image-20250825113036453.png)

**Components Needed:**

![](./media/image-20250825113051570.png)

![](./media/image-20250825113106173.png)

![](./media/image-20250825120155998.png)

![](./media/image-20250825113130207.png)



![](./media/image-20250825113139617.png)



**Initialize the servo**

Attach this left servo to G, V and S（A1）of sevro motor driver shield, upload the following code, plug in power and press the rest button on the V4.0 board. Then the left servo rotates to 80°.

**Set the servo to 80°：**

Download code file：[Servo_80.7z](./Servo_80.7z)

Test Code

```
#include <Servo.h>
Servo myservo; // create servo object to control a servo

void setup()
{
    Serial.begin(9600);
    delay(1000);
}

void loop()
{
    myservo.attach(A1); // Change pin to adjust one by one
    myservo.write(80); //Angle
    delay(1000);
}
```

**Install the robotic arm：**

![](./media/image-20250825114351950.png)

![](./media/image-20250825114359547.png)

![](./media/image-20250825114406930.png)

**Mount the control part**

![](./media/image-20250825114421046.png)

![](./media/image-20250825114429200.png)

![](./media/image-20250825114437008.png)

![](./media/image-20250825114445870.png)

![](./media/image-20250825114453586.png)

Wiring-up Guide

![](./media/image-20250825114507837.png)

![](./media/image-20250825114516080.png)

![](./media/image-20250825114523624.png)

![](./media/image-20250825114532430.png)

![](./media/image-20250825114539628.png)

![](./media/image-20250825114546848.png)

![](./media/image-20250825114554166.png)

 **Joint Rotation and Servo Angle Settings**

| Name                   | 0°                                            | 180°                       |
| ---------------------- | --------------------------------------------- | -------------------------- |
| Servo 1（baseplate）   | Rotate toward the rightmost                   | Rotate toward the leftmost |
| Servo 2 （right side） | Rocker arm connected to Servo 2 draws back    | stretch out                |
| Servo 3 （left side）  | Rocker arm connected to Servo 3 stretches out | draw back                  |
| Servo 4 (clamp claw)   | close                                         | open                       |

**Pin Control**

| Name                 | IO Pin |
| -------------------- | ------ |
| Servo 1 (baseplate)  | A1     |
| Servo 2 (right side) | A0     |
| Servo 3 (left side)  | 6      |
| Servo 4 (clamp claw) | 9      |
| Right Joystick X     | A2     |
| Right Joystick Y     | A5     |
| Right Joystick Z (B) | 7      |
| Left Joystick X      | A3     |
| Left Joystick Y      | A4     |
| Left Joystick Z(B)   | 8      |
| D1/DAT of PS2        | 12     |
| D0/CMD of PS2        | 11     |
| CE/SEL of PS2        | 10     |
| CLK of PS2           | 13     |