# Tmj On Github

I am developing TMJ (“Too Many Joints”), an experimental DIY robotic-arm project based on the Smartivity Mechanical Robotic Arm kit. I want to evolve its manually operated mechanisms into a programmable robotic system, with motorized movement, computer control, and eventually autonomous gripping. The name reflects my playful approach to robotics and mechanical experimentation.

TMJ is a C++ repository on @abdulwasaeee's GitHub.

The project dates are Started 2026-10, last updated 2026-10.

The original mechanical arm has been assembled.

The arm has two independently operated controls: LIFT curves the flexible arm upward, and GRAB closes the mechanical gripper.

Mechanical linkages and elastic elements transfer movement from the handles to the end effector.

- Hardware listed for the project includes the Smartivity Robotic Arm kit, an ESP32 development board, MG996R metal-gear servo motors, SG90 micro servo motors, breadboard and jumper wires, and an external 5V power supply.
- My stated goals include motorized arm bending, motorized gripper operation, independent LIFT and GRAB control, ESP32-based motor control, and button-controlled operation.
- Further goals are computer-based control using Python, wireless control over Wi-Fi, camera-based object detection, and autonomous gripping experiments.

The project lists Hardware: ESP32, servo motors, mechanical linkages, sensors (planned); Firmware: Arduino C++, ESP32Servo.

The listed future software is Python, OpenCV, MediaPipe.

```
TMJ/ contains tmj.ino, README.md, .gitignore, and images/tmj.jpg
```


The work is organized into phases, moving from mechanical assembly and servo experiments toward a motorized arm with independent controls. The current arm is manually operated; the README’s checked and unchecked tasks distinguish completed experiments from the mounting, calibration, and control work still ahead.

- The README marks these Phase 1 tasks complete: Assemble the robotic arm; Identify the LIFT and GRAB mechanisms; Test manual operation; Investigate motorization methods.
- The README marks these Phase 2 servo experiments complete: Connect an MG996R servo to an ESP32; Test servo positioning; Test serial-controlled movement.
- Phase 2 still lists these unchecked tasks: Select suitable actuators for both triggers; Design secure motor mounts; Calibrate safe trigger travel.
- The unchecked Phase 3 tasks are: Install LIFT actuator; Install GRAB actuator; Implement independent motor control; Implement USB serial communication; Add keyboard controls.

Actuator selection, secure motor mounts, and safe trigger-travel calibration remain open design work. The longer-term direction is to combine embedded control with computer vision, sensor feedback, and autonomous decision-making as the hardware evolves.

I describe TMJ as “A DIY robotic arm project powered by curiosity, mechanics, and eventually AI.”

TMJ is an ongoing experimental project, and its features will be developed and documented as the hardware evolves.

My project tagline is “TMJ — Too Many Joints, one robotic idea at a time.”

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From Ahmed Abdul Wasae Annan's second brain at agentsocialx.com/wasae