2 layers
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12 parts14kMIT
2 layers49.5 × 45.5 mm
4 Axis Servo Arm
vinbot28/4-axis-arm1A robot arm driven by servos and an arduino.
- Size
- 49.5 × 45.5 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 12
- Nets
- 31
- Pads
- 63
- Tracks, vias
- 56, 0
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 19 Jun 2025
- Updated
- 2 Jul 2025
Overview
4 Axis Servo Arm is an open-source printed circuit board by vinbot28, from the vinbot28/4-axis-arm repository on GitHub, published under the MIT licence. It is a 2-layer board of 49.5 × 45.5 mm with 12 parts on 31 nets, routed with 56 tracks and 0 vias.
Its parts include 6 connectors and 5 switches. It belongs with the robots and motor control boards and the AVR (ATmega, ATtiny) boards of this library.
README
README.md4 Axis Arm
The 4 Axis Arm is exactly what you think it is. Using 4 servos, the robotic arm achieves 4 degree of freedom movement through the: turret base, shoulder, elbow, and wrist rotation joints. All of the 3d printed parts are designed to use zero to no supports, and there are very few parts in the whole assembly. I've also created an electronics box containing potentiometers, an Arduino Nano (for its popularity and accessibility), and a custom PCB to greatly decrease the wiring hassle.
The wiring diagram for the potentiometers to PCB.
I created this project after seeing so many 6 axis arms pop up all over YouTube. Wanting one of my own, I quickly realized how much the components costed and the complexity of the control systems. Despite that, I really wanted to design and play with a robotic arm, and hence the decision to make a 4 axis. Additionally, I couldn't pass down the opportunity to CAD and design a PCB...
General Instructions:
Wiring:
The PCB Silkscreen includes labels for which ports correspond to what component. Px = potentiometer; Sx = servo.
Potentiometers:
- Pot 1 -> P1 (pcb) = Pin 19 (arduino)
- Pot 2 -> P2 (pcb) = Pin 20 (arduino)
- Pot 3 -> P3 (pcb) = Pin 21 (arduino)
- Pot 4 -> P4 (pcb) = Pin 22 (arduino)
- Pot 5/claw -> P5 (pcb) = Pin 23 (arduino)
Servos:
- Servo 1/turret -> S1 (pcb) = Pin 6 (arduino)
- Servo 2/shoulder -> S2 (pcb) = Pin 8 (arduino)
- Servo 3/elbow -> S3 (pcb) = Pin 9 (arduino)
- Servo 4/wrist -> S4 (pcb) = Pin 12 (arduino)
- Servo 5/effector -> S5 (pcb) = Pin 14 (arduino)
Programming:
A sample program is included in this repository to control the servos using the potentiometers. Feel free to create your own programs to run pre-programmed movements, serial-based control, and much more!
Bill of Materials:
| Item name | Amount Needed | Packs to buy | Total Cost | Link |
|---|---|---|---|---|
| MG946R Servo | 4 | 4 | 14.52 | https://www.aliexpress.us/item/3256806315358281.html |
| M4 6x5 Heat set | 23 | 1 | 2.64 | https://www.aliexpress.us/item/3256803396040989.html |
| M3 3x5 Heat set | 3 | 1 | 2.05 | https://www.aliexpress.us/item/3256803396040989.html |
| M4-6 SHCS | 20 | 1 | 1.55 | https://www.aliexpress.us/item/2255800598515019.html |
| M4-8 SHCS | 3 | 1 | 1.64 | https://www.aliexpress.us/item/2255800598515019.html |
| M3-6 SHCS | 3 | 1 | 1.41 | https://www.aliexpress.us/item/2255800598515019.html |
| Male/Female headers | 1 | 1 | 2.21 | https://www.aliexpress.us/item/2255800687544049.html |
| Female DC barrel jack | 1 | 1 | 1.53 | https://www.aliexpress.us/item/3256802343987191.html |
| Arduino nano | 1 | 5.73 | https://www.aliexpress.us/item/3256806718205824.html | |
| PCB | 1 | 5 | jlcpcb.com | |
| 5v AC-DC Power supply | 1 | 1 | 9.99 | https://a.co/d/4vrQsQI |
| Subtotal: | 48.27 | |||
| Grand Total | 58.31 | |||
| JLC Shipping | Aliexpress Shipping | Amazon Shipping | ||
| 3.2 | 6.84 | N/A |
Parts
12| Qty | Value | Footprint | References |
|---|---|---|---|
| 1 | 5V DC BARREL | Connector_BarrelJack:BarrelJack_Horizontal | J1 |
| 1 | Arduino_Nano_v3.x | Module:Arduino_Nano | A1 |
| 1 | Axis 1 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | S1 |
| 1 | Axis 2 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | S2 |
| 1 | Axis 3 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | S3 |
| 1 | Axis 4 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | S4 |
| 1 | Claw | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | S5 |
| 1 | Pot_1 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | P1 |
| 1 | Pot_2 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | P2 |
| 1 | Pot_3 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | P3 |
| 1 | Pot_4 | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | P4 |
| 1 | Pot_Claw | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | P5 |
Questions
How big is the 4 Axis Servo Arm PCB?
It measures 49.5 × 45.5 mm and has 2 copper layers, 1.6 mm thick.
What parts does the 4 Axis Servo Arm use?
12 parts. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the 4 Axis Servo Arm KiCad files?
From the vinbot28/4-axis-arm repository on GitHub, at the commit this page was made from: the board is PCB/KiCad Files/4 Axis Servo Arm.kicad_pcb and its schematic PCB/KiCad Files/4 Axis Servo Arm.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the 4 Axis Servo Arm design in my own project?
Its repository publishes it under the MIT licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).
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