Hackaday.io Hackaday.io
Projects
Discover Contests Courses Stack
More
Courses Tutorials Events Hackerspaces Hackaday.com Tindie Marketplace
Sign up Log in
Close
0%
0%

Five Bar Parallel Robot - Janus Jr

Janus Jr is a small five-bar parallel robot designed to work with brushless motors, ESP32 (Arduino IDE) and 3D printed parts.

david-gonzalezDavid Gonzalez
Following Follow project
Liked Like project

Become a Hackaday.io member

Not a member? You should Sign up.

Already have an account? Log in.

Sign up with Github
Sign up with Twitter OR
Forgot your password?

Just one more thing

To make the experience fit your profile, pick a username and tell us what interests you.

Pick an awesome username
hackaday.io/
Your profile's URL: hackaday.io/username. Max 25 alphanumeric characters.
Pick a few interests
Projects that share your interests
People that share your interests

We found and based on your interests.

Choose more interests.

OK, I'm done! Skip
Join this project
Similar projects worth following
3.2k views
4 comments
19 followers
19 likes
  • Description
  • Details
  • Files 0
  • Components 6
    • View all
  • Logs 1
    • View all
  • Instructions 0
  • Discussion 4
View Gallery
3.2k
4
19
19

Team (1)

  • david-gonzalezDavid Gonzalez

Join this project's team
  • Code and resources
ongoing project
Robotics Five Bar parallel robot kinematics direct drive brushless motor BLDC Motor L293 ESP32 SimpleFoc foc

Related lists

Featured Projects

Featured Projects on Hackaday.io

This project was created on 07/21/2020 and last updated 4 years ago.

Description

Janus Jr was developed in the Arduino IDE. It's using the SimpleFOC Arduino library for position control of the brushless motors. The ESP32 hosts a HMI which allows a user to move the end effector in the plane. The correct angular positions of the motors is calculated with the inverse kinematic model of the robot. You will be able to find everything about this robot on Github: https://github.com/byDagor/Five_Bar_Parallel_Robot-Janus_Jr
Demo video: https://youtu.be/umr-SqC9WUI

Components

  • 2 × 2206 Brushless Motor 140KV - 10.5 ohm
  • 1 × ESP32 Sparkfun Thing
  • 2 × L293 Interface and IO ICs / Peripheral Drivers and Actuators
  • 2 × AMT103 Rotary Encoder
  • 1 × Power source 5V - 2A

View all 6 components

Project Logs
Collapse

  • Janus Jr Brain

    David Gonzalez • 07/30/2020 at 20:35 • 0 comments

    This is the brain and power stage of the robot. You can find the schematics of the PCB in the Github repo. 

View project log

Enjoy this project?

Share

Discussions

Log In/Sign up to comment

Become a Hackaday.io Member

Create an account to leave a comment. Already have an account? Log In.

Sign up with Github
Sign up with Twitter OR
ekaggrat singh kalsi wrote 07/23/2020 at 23:05 • point

it is using bldc motors of what type? and also what position sensor are you using? more details on this project would be great. It would make a nice drawbot

  Are you sure? yes | no

David Gonzalez wrote 07/25/2020 at 05:38 • point

I will post more details in the following days.

  Are you sure? yes | no

Dan Maloney wrote 07/22/2020 at 21:22 • point

Silly question: why are these called "five-bar" linkages when all I ever see them with is four bars?

  Are you sure? yes | no

David Gonzalez wrote 07/22/2020 at 21:28 • point

Because the distance between the motors is considered as a bar. So you have: a "fixed bar" between motors, two bars coupled directly to the motors and two bars coupled to the previously mentioned bars. :)

  Are you sure? yes | no

Similar Projects

Supplyframe DesignLab: 2023 Hackada…
The purpose of this project is to create a robot car with ominidirectional step motor wheels, and replace one of humans by a Robot
Project Owner Contributor

Omnidireccional Robot controlled by Amazon

miguel-wisintainerMiguel Wisintainer

An arduino based robot
Project Owner Contributor

Robot

bigbatbigbat

This Arduino based robot was recreated from a 2013 UC Berkeley paper and can crawl under some doors.
Project Owner Contributor

STAR, an Arduino Robot Recreation

aliAli

A 5-bar robot with variable geometry to dinamically ilustrate changes in the spacework of the robot based on its dimensions
Project Owner Contributor

Modular 5-bar robot

juan-salvoJuan Salvo

Does this project spark your interest?

Become a member to follow this project and never miss any updates
Going up?

About Us Contact Hackaday.io Give Feedback Terms of Use Privacy Policy Hackaday API

© 2025 Hackaday

Yes, delete it Cancel

Report project as inappropriate

You are about to report the project "Five Bar Parallel Robot - Janus Jr", please tell us the reason.

Send message

Your application has been submitted.

Remove Member

Are you sure you want to remove yourself as a member for this project?

Project owner will be notified upon removal.