Author: Norberto Torres-Reyes Email: [email protected]
Date: Last modified on 03/08/19
Keywords: kinematics, planar, robotic arm, 2 link, lego, NXC, mindstorm

This tutorial is for anyone who wishes to create a 2-link robotic arm using LEGO Mindstorm to reinforce theoretical knowledge about 2-link planar mechanisms. Readers of this tutorial are recommended to have the following background and interests:

*Previous experience with LEGO Mindstorm
*Matlab and C-based programming experience
*Knowledge of linear algebra
*Interests in robotics
*
The rest of the tutorial is presented as follows:

• Parts List
• Theoretical Background
• Build Plans
• NXT Brick Code
• Running, Testing and Analysis
• Conclusions
• Final Words

LEGO NXT parts list is given in full detail HERE. Most parts can be obtained from the Mindstorm kit, although some extra parts will be needed from LEGO's Technic line of bricks.