IconCOMPLETE GUIDE

Ervy Robotic Documentation

Everything you need to build, deploy, and earn with your robotic arm

Table of Contents

Introduction

Welcome to the Ervy Robotic documentation. This comprehensive guide will walk you through every step of building, deploying, and monetizing your own robotic arm as part of our decentralized Robotics-as-a-Service (RaaS) network.

Ervy Robotic Arm

What is Ervy Robotic?

Ervy Robotic builds the future of distributed robotics. We're launching a global network where 3D-printed robotic arms become autonomous service nodes, creating earning opportunities for builders and access for users worldwide through blockchain technology.

Our platform enables makers, hobbyists, and enterprises to participate in a shared robotics economy where every robotic arm contributes to and benefits from a growing decentralized network.

Key Features

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100% Open Source

All designs, firmware, and control software freely available

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Decentralized Network

Peer-to-peer marketplace for robotic capabilities

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Blockchain-Powered

Smart contracts handle payments and rewards automatically

Getting Started

Before you begin building your Ervy robotic arm, make sure you understand the complete process and have access to the necessary tools and materials.

⏱️ Estimated Time: 20-30 hours total (including printing time)
💰 Estimated Cost: $300-$500 USD depending on your location and component choices
🔧 Skill Level: Intermediate (basic understanding of 3D printing, electronics, and programming required)

Quick Start Overview

1
Download & Print

Download our open-source blueprints and 3D print your robotic arm at home.

2
Assemble Hardware

Follow our detailed assembly guide to put together all mechanical and electronic components.

3
Install Software

Flash our firmware, run calibration routines, and verify full functionality.

4
Connect & Earn

Connect to our network and activate your device as an earning node with token stake.

Hardware Requirements

Below is the complete Bill of Materials (BoM) for building your Ervy robotic arm. All components are readily available from major electronics suppliers.

3D Printed Parts

Required Parts:
- Base (1x) - 8 hours print time
- Shoulder Joint (1x) - 6 hours
- Upper Arm (1x) - 5 hours
- Elbow Joint (1x) - 4 hours
- Forearm (1x) - 4 hours
- Wrist Assembly (1x) - 3 hours
- Gripper Parts (2x) - 2 hours each
- Motor Mounts (6x) - 1 hour each

Total Print Time: ~40 hours
Filament Required: ~1.2 kg PLA or PETG

Electronic Components

Component Quantity Notes
NEMA 17 Stepper Motors 6x 1.7A, 0.4Nm minimum
Arduino Mega 2560 1x Or compatible board
RAMPS 1.4 Shield 1x For motor control
A4988 Stepper Drivers 6x With heatsinks
12V Power Supply 1x 15A minimum
Limit Switches 6x Mechanical endstops
GT2 Timing Belts 3m 6mm width
Bearings 608ZZ 12x Standard skateboard bearings
M3 Hardware Kit 1x Screws, nuts, washers

Tools Required

  • 3D Printer (build volume: 200x200x200mm minimum)
  • Hex key set (M2-M6)
  • Screwdrivers (Phillips and flathead)
  • Wire strippers and cutters
  • Soldering iron (optional, for custom wiring)
  • Multimeter (for debugging)
  • Computer with USB port

3D Printing Guide

Download Design Files

All CAD files are available on our GitHub repository. Download the complete package or individual STL files for each component.

Download from GitHub Icon
GitHub

Recommended Print Settings

Layer Height: 0.2mm
Infill: 20-30%
Print Speed: 50mm/s
Wall Thickness: 1.2mm (3 walls)
Top/Bottom Layers: 4 each
Support: Required for some parts
Bed Temperature: 60°C (PLA) / 80°C (PETG)
Nozzle Temperature: 210°C (PLA) / 240°C (PETG)
⚠️ Important: Some parts require support structures. Always orient parts for optimal strength - layer lines should run perpendicular to stress directions.

Print Order & Priority

We recommend printing in this order to allow for testing as you build:

  1. Base and Motor Mounts - Start with the foundation
  2. Shoulder Joint - Test motor integration
  3. Upper Arm & Elbow - Build vertically
  4. Forearm & Wrist - Complete the arm structure
  5. Gripper Components - Final assembly pieces

Assembly Instructions

Assembly

Assembly Overview

Follow these step-by-step instructions to assemble your robotic arm. Take your time and double-check each connection before proceeding to the next step.

The assembly process is divided into distinct sections for easier troubleshooting and testing.

Step 1: Base Assembly

Duration: 30-45 minutes

  1. Install the base motor mount using M3x12 screws
  2. Secure NEMA 17 motor (Motor 1 - Base Rotation)
  3. Install 608ZZ bearings in the rotation platform
  4. Connect GT2 belt between motor and bearing assembly
  5. Install limit switch at minimum rotation point
  6. Test rotation manually before proceeding

Step 2: Shoulder Joint

Duration: 45-60 minutes

  1. Mount Motor 2 to shoulder joint housing
  2. Install bearings for smooth rotation
  3. Attach upper arm connection point
  4. Connect timing belt and tension properly
  5. Install shoulder limit switches (min/max position)
  6. Attach shoulder assembly to base platform

Step 3: Elbow & Forearm

Duration: 45 minutes

  1. Assemble elbow joint with Motor 3
  2. Connect upper arm to elbow joint
  3. Install forearm section with proper alignment
  4. Add limit switches for elbow position
  5. Test range of motion

Step 4: Wrist & Gripper

Duration: 60 minutes

  1. Install Motors 4, 5, and 6 for wrist articulation
  2. Assemble gripper mechanism with servo control
  3. Connect all wrist timing belts
  4. Install gripper limit switches
  5. Test full wrist range of motion
  6. Verify gripper open/close operation
💡 Pro Tip: Apply a small amount of lithium grease to bearing surfaces for smoother operation. Avoid over-tightening screws as this can crack 3D printed parts.

Electronics Setup

Controller Wiring

Connect all electronic components to the Arduino Mega with RAMPS shield following this wiring diagram:

Electronics

Motor Connections

Motor 1 (Base): → X-Axis Driver
Motor 2 (Shoulder): → Y-Axis Driver
Motor 3 (Elbow): → Z-Axis Driver
Motor 4 (Wrist 1): → E0 Driver
Motor 5 (Wrist 2): → E1 Driver
Motor 6 (Gripper): → Servo Pin D11

Power Input: 12V 15A → RAMPS Power Terminals
USB: Arduino Mega → Computer/Raspberry Pi

Limit Switch Wiring

Connect limit switches to their respective axis pins:

  • X-Min: Base minimum rotation
  • X-Max: Base maximum rotation
  • Y-Min: Shoulder minimum angle
  • Y-Max: Shoulder maximum angle
  • Z-Min: Elbow minimum angle
  • Z-Max: Elbow maximum angle
⚠️ Safety Warning: Always disconnect power before modifying wiring. Double-check polarity of power connections to avoid damaging components.

Driver Configuration

Setting Motor Current (A4988):

  1. Measure Vref on driver potentiometer with multimeter
  2. Calculate: Desired Current = Vref × 2.5
  3. For 1.7A motors: Set Vref to 0.68V
  4. Adjust potentiometer carefully with small screwdriver
  5. Repeat for all 6 drivers

Software Installation

Prerequisites

Before installing the Ervy software, ensure you have:

  • Arduino IDE 1.8.19 or newer
  • Python 3.8 or newer
  • Node.js 16.x or newer (for web interface)
  • Git for version control
Software

Firmware Installation

# Clone the repository
git clone https://github.com/ErvyRobotic/firmware.git
cd firmware

# Open in Arduino IDE
# File → Open → ervy_firmware.ino

# Select board: Arduino Mega 2560
# Select port: (your USB port)

# Upload firmware
# Sketch → Upload

Control Software Setup

# Install control software
git clone https://github.com/ErvyRobotic/control-software.git
cd control-software

# Install dependencies
pip install -r requirements.txt

# Configure settings
cp config.example.yaml config.yaml
nano config.yaml

# Run control software
python3 main.py

Web Interface Installation

# Install web dashboard
cd web-interface
npm install

# Start development server
npm run dev

# Build for production
npm run build

# Access at http://localhost:3000
📝 Configuration File: Edit config.yaml to set your serial port, motor speeds, acceleration values, and network settings.

Calibration

Proper calibration ensures accurate positioning and smooth operation of your robotic arm.

Initial Homing

  1. Power on the system
  2. Open control software terminal
  3. Run command: G28 (home all axes)
  4. Arm will move to limit switches sequentially
  5. Verify each axis homes correctly
  6. Note: This establishes zero positions

Steps Per Unit Calibration

# For each axis, measure actual vs commanded movement

1. Command 100mm movement
2. Measure actual movement
3. Calculate: New Steps = (Old Steps × Commanded) / Actual
4. Update in firmware configuration
5. Re-upload and test

Example:
Commanded: 100mm
Actual: 95mm
Old Steps: 80 steps/mm
New Steps: (80 × 100) / 95 = 84.21 steps/mm

Auto-Calibration Wizard

Use the built-in calibration wizard for easier setup:

python3 calibrate.py --interactive

# Follow on-screen prompts
# Wizard will guide through:
# - Limit switch verification
# - Motor direction check
# - Step calibration
# - Range of motion testing
# - Speed optimization

Network Connection

Connect your robotic arm to the Ervy network to enable remote access and begin earning.

Network Requirements

  • Stable internet connection (minimum 5 Mbps upload)
  • Static IP or DDNS service (recommended)
  • Port forwarding for external access (ports 8080, 8443)
  • Solana wallet with SOL for transactions

Connecting to Ervy Network

# Install network client
npm install -g @ervy/network-client

# Initialize connection
ervy-client init

# Enter your details:
# - Wallet address
# - Device name
# - Location (optional)
# - Hourly rate

# Start network daemon
ervy-client start --daemon

# Check status
ervy-client status

Network Dashboard

Monitor your node's performance through the web dashboard at http://your-ip:8080/dashboard

  • Real-time connection status
  • Active sessions and requests
  • Earnings and statistics
  • Health monitoring
  • Performance metrics

RaaS Node Setup

Transform your robotic arm into an earning node on the Ervy network.

Node Registration

  1. Create or import Solana wallet
  2. Acquire ERVY tokens for staking
  3. Register node on Ervy platform
  4. Stake minimum required tokens (50 ERVY)
  5. Set your pricing and availability
  6. Activate node for incoming requests

Setting Your Rates

Configure your pricing structure based on:

  • Per-Minute Rate: Base rate for robot usage time
  • Setup Fee: One-time fee per session
  • Complexity Multiplier: Charge more for complex tasks
  • Peak Hours: Optional surge pricing during high demand
# Example pricing configuration
{
  "baseRate": 0.05, // 0.05 ERVY per minute
  "setupFee": 0.10, // 0.10 ERVY per session
  "complexityMultiplier": 1.5,
  "peakHours": {
    "enabled": true,
    "multiplier": 1.3,
    "hours": "09:00-17:00"
  }
}

Token Staking

Staking ERVY tokens is required to operate a node on the network. Stakes ensure quality service and network security.

Staking Requirements

Node Tier Minimum Stake Benefits
Basic 50 ERVY Standard visibility, basic support
Professional 200 ERVY Priority listing, reduced fees (8%)
Enterprise 500 ERVY Featured placement, lowest fees (5%), dedicated support

How to Stake

# Using web dashboard
1. Navigate to "Staking" section
2. Connect your Solana wallet
3. Enter stake amount
4. Confirm transaction
5. Wait for blockchain confirmation

# Using CLI
ervy-client stake --amount 50
📌 Important: Staked tokens remain in your custody via smart contract. You can unstake at any time, but there's a 7-day unbonding period before tokens are available.

Earning & Rewards

Start generating passive income by providing robotic arm access to users worldwide.

Revenue Streams

Usage Fees

Earn tokens every time someone uses your robot. Payments are automatic via smart contracts.

Uptime Rewards

Bonus rewards for maintaining high availability (95%+ uptime) on the network.

Staking Yields

Earn additional APY on your staked tokens (currently 8-12% annually).

Payment Distribution

Understand how earnings are calculated and distributed:

Session Fee Structure:

User Payment: 100 ERVY
- Network Fee (10%): -10 ERVY
- Your Earnings: 90 ERVY

Automatically distributed to your wallet
after each completed session.

Maximizing Earnings

  • Maintain High Uptime: Keep your node online 24/7 for maximum exposure
  • Optimize Response Time: Fast response increases your ranking
  • Build Reputation: Positive ratings attract more users
  • Competitive Pricing: Balance profit with market demand
  • Upgrade Stake Tier: Higher tiers get better visibility

Withdrawal

# Earnings are automatically sent to your wallet
# No minimum withdrawal required
# Instant settlement after session completion

# View balance
ervy-client balance

# View transaction history
ervy-client history --limit 50

API Reference

Integrate Ervy functionality into your custom applications using our REST API.

Authentication

POST /api/v1/auth
Content-Type: application/json

{
  "walletAddress": "your_solana_address",
  "signature": "signed_message"
}

Response:
{
  "token": "jwt_token",
  "expiresIn": 3600
}

Control Endpoints

Move to Position

POST /api/v1/move
Authorization: Bearer {token}

{
  "x": 150,
  "y": 200,
  "z": 100,
  "speed": 50
}

Response: 200 OK

Get Current Position

GET /api/v1/position
Authorization: Bearer {token}

Response:
{
  "x": 150.0,
  "y": 200.0,
  "z": 100.0,
  "timestamp": 1234567890
}

Control Gripper

POST /api/v1/gripper
Authorization: Bearer {token}

{
  "action": "close", // "open" or "close"
  "force": 50 // 0-100
}

Network Endpoints

Get Node Status

GET /api/v1/node/status

Response:
{
  "online": true,
  "uptime": 99.8,
  "sessionsToday": 45,
  "earningsToday": 23.5,
  "rating": 4.8
}
📚 Full API Documentation: Visit docs.ervy-robotic.com/api for complete endpoint reference, code examples in multiple languages, and interactive testing.

Troubleshooting

Common issues and their solutions:

Motor Not Moving

Possible Causes:

  • Check power supply voltage and amperage
  • Verify driver current setting (Vref)
  • Ensure motor connections are secure
  • Check if limit switch is triggered
  • Verify firmware uploaded correctly

Positioning Inaccuracy

Solutions:

  • Re-run calibration wizard
  • Check for loose belts (should have light tension)
  • Verify steps-per-unit configuration
  • Ensure no mechanical binding
  • Lubricate bearings if needed

Network Connection Issues

Checklist:

  • Verify internet connectivity
  • Check firewall settings and port forwarding
  • Ensure wallet has sufficient SOL for gas
  • Restart network daemon
  • Check node status on dashboard

Overheating Drivers

Prevention:

  • Verify driver current not set too high
  • Add heatsinks to all stepper drivers
  • Improve airflow around electronics
  • Consider adding cooling fan
  • Reduce motor current if possible
⚠️ Still Having Issues? Join our community Discord server for real-time support or open an issue on our GitHub repository.

Frequently Asked Questions

How much can I earn with a RaaS node?

Earnings vary based on usage, pricing, and network demand. Active nodes typically earn $50-$200/month, with high-demand periods earning significantly more. Your location, uptime, and reputation also factor into earning potential.

Do I need programming experience?

Basic understanding is helpful but not required. Our setup wizard automates most configuration. For custom modifications, Python and Arduino knowledge is beneficial.

Can I modify the design?

Absolutely! The entire project is open-source under MIT license. Customize, improve, and share your modifications with the community.

What's the power consumption?

Idle: ~20W, Active operation: 80-150W depending on load. Estimated monthly cost: $15-30 at average electricity rates.

How do I handle maintenance?

Monthly: Check belt tension, clean components, verify calibration. Quarterly: Lubricate bearings, inspect wiring. Annual: Replace worn belts or bearings as needed.

Is my robot secure?

Yes. All communications are encrypted, authentication is required, and you maintain full control. You can set usage limits, blacklist users, and pause availability anytime.

Can I run multiple nodes?

Yes! Many operators run multiple arms to increase earnings. Each requires its own stake, but management tools allow controlling multiple nodes from one dashboard.

What if something breaks?

Most parts are 3D printed and can be reprinted. Electronic components are standard and easily replaceable. We maintain a marketplace where community members sell spare parts.

Need More Help?

Our community and support team are here to assist you

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