NEMA-17 5-Axis Arduino Robot Arm

I designed this robot arm in SolidWorks and 3D printed the parts. It uses 1/8th microstepped NEMA-17 stepper motors with A4988 stepper drivers for the joint actuators. These are controlled by Arduino microcontrollers. The spring at the base of the robot is a spring counterweight to reduce static loading on the arm. This leaves more motor torque available for dynamic loading and payload. The code maps the angle of the controller arm's potentiometers to the corresponding number of steps from the home position for each respective joint. I used the Accelstepper library to handle the motor accelerations.