Programmable 2-Axis Touchscreen Tapping Arm

I’m developing a compact robot that can reach any spot on a phone or tablet and deliver a crisp, repeatable tap. The mechanism only needs two degrees of freedom, but accuracy should stay within ±0.5 mm because its primary job is tapping on a touchscreen.

At the end of the arm sits a fine-point precision stylus—no pressure sensing or swap-out tips required, just a stable, narrow contact surface that won’t scratch glass.

Control comes from an ESP32. I’ll load movement scripts and real-time commands over both Wi-Fi and Bluetooth, and the whole unit should idle at low power when inactive. A small camera mounted beside the stylus feeds live images; your vision code will translate screen cues into X-Y coordinates so the arm can adjust taps on the fly.

The robot must clamp securely to a desktop yet rotate for overhead use on handheld phones, so please include a versatile mounting solution.

Deliverables
• 3D CAD and mechanical drawings for the 2-axis arm, base, and mount
• ESP32 schematic, PCB files, and documented firmware (Wi-Fi, Bluetooth, low-power modes)
• Computer-vision software that pinpoints tap targets from the camera feed
• Bill of materials with off-the-shelf parts
• Assembly guide and short demo video proving accurate taps on a tablet

Use widely available steppers/servos and keep the design serviceable; I want to build a second unit without hunting specialty parts. Milestones can follow design, firmware, vision integration, and final test phases—let’s iterate quickly and get a reliable prototype in hand.