12/26/2025 - Planning

This is a robot that can take samples from the patients by itself without human touch. Only via its intelligence. and fot this i will design a arm so it can take cotton buds and take sample form patient.

12/28/2025 - ARM Base Designing

Here, I designed the base for the arm, where a stepper will go to move. And here I have added some holes to mount it to the table. so its not wobbles during the run

Complete ARM Base

Motor Grabber

Base Support

Base

12/29/2025 1 AM - ARM Support Design

Here I have designed for the arm height from the motor base. And from here the Arm will goes.

Arm Base and Base Combined look with motor

Gear Wheel Attachment

Gear wheel for the arm movement

Bolt for free rotation

ARM Support

12/29/2025 8 PM - Designing Forearm

Here i have designed the forearm so it can move in Y Axis. Then it can move and can take sample from human body.

Initially Final Look Of Fore ARM

Designing to create a back force to the fore ARM

Fore ARM With Base

Designing Forerm Moving Angle : Here, the support from the base and front will be attached so it can move smoothly

Fore Arm Design

12/31/2025 - Designing ARM Grabber

Here, I have designed the arm grabber so it can take cotton buds and hold objects to fulfill its mission and work smoothly and properly.

Grabber Final Look

It was really hard for me to align both grabber fingers to collapse smoothly. Hope so it will work now leets check after the printing.

Open Grabber

Designing the Slob for holding the Object

ARM Grabber Bottom

1/3/2026 - ARM Full Design And Circuit Making

Here I have built the full 3d designing for this ARM, and after that, built the circuit so I the bot can move and work.

Here is the circuit diagram for the project.

Circuit Diagram

ARM Full View

1/25/2026 - Making BOM

Here is the full Bill of Materials for this project.

Here is the link for the BOM -> https://docs.google.com/spreadsheets/d/10zvF5uCPBPy7JZsRt0qIeCctCwV8-6fVS0w0QFKqpmc/edit?usp=sharing

Image for the cover photo

2/5/2026 - Update Github Repository

Here, I have updated the GitHub repo with all the files, the circuit diagram, and the CAD file. Also, update the .STl files so anyone can just print them and can build it....

3/9/2026 - Updating Github with source files

Here I have updated all the source files as you said on Slack, and specially why i will use pi5 why not pi 0

firstly i tried pi0 2w from my frnd to run the ML, which was too laggy most of time crushing. and there frame rate was too bad, like 5 to 6fps even there I couldn't connect a USB camera. Even though there is no USB port for the serial communication. In pi4 there are no boundaries like this, and a good cpu which can give better performance. As this arm will take a sample from the mouth, if it gets stuck or hassale to procees, it might hurt the person