Design a 4-DOF robot (1992)

This is my first group activity that we’ve done at secondary school. It is 4 degree of freedom robot.

It has two arms and a griper base on a rotary disk.

We’ve used commodore 64 and very simple interface board to control it.

At each joint we’ve put a rheostat to convert the angle of that joint to a variable voltage between 0-5 volts and at other site we’ve got a 8 bit data from computer and by converting it to variable voltage with interface board, we could control the motors easily.