VISVESVARAYA TECHNOLOGICAL UNIVERSITY

BELAGAVI -590018

A PROJECT REPORT
ON

“ROBOTIC ARM”
Submitted in partial fulfillment of the requirements for the award of degree.

Bachelor of Engineering
in
Mechanical Engineering

Submitted by

HITHESH T L (4AD20ME005)
SHAYAN PASHA (4AD20ME013)
RAJENDRA PRASAD (4AD20ME011)
Under the guidance of

Mr. KARTHIK KUMAR M

Professor
Dept of Mechanical Engineering
ATMECE, Mysuru

DEPARTMENT OF MECHANICAL ENGINEERING

ATME COLLEGE OF ENGINEERING
MYSURU -570028
 ATME COLLEGE OF ENGINEERING,MYSURU-570028
(Affilatiated to Visvesvaraya Technology University,Belagavi)

DEPARTMENT OF MECHANICAL ENGINEERING

CERTIFICATE
This is to certify that the project work entitled “Robotic Arm” is a bonafide work
carried out by Hithesh T L (4AD20ME005), Shayan Pasha (4AD20ME013),Rajendra
Prasad K (4AD20ME005) in partial fulfillment of the reqirement for the award of bachelor’s
degree in Mechanical Engineering of Vishveswarya Technological University, Belgavi, during
the academic year 2022-2023.

Signature of the
Signature of the guide Signature of the HOD
principal

Mr. Karthik Kumar M Dr. Srinivasa K Dr. A K Murthy

Professor Professor and HOD Principal
Department of Mechanical Department of ATMECE, MYSURU
Engineering Mechanical Engineering
ATMECE, MYSURU ATMECE, MYSURU

Name of the Examiners Signature with Date

1.

2.
 DECLARATION
We hereby declare that the entire work presented in this dissertation was carried out by
us under the guidance of Mr. Karthik Kumar M and no part of it has been submitted for any
degree or diploma in any institution previously.

In keeping with the general practice of reporting scientific observations, due

acknowledgements have been made wherever the work described in based on the findings of
other investigators. Any omissions, which might have occured by oversight or errors in
judgement, are regretted.

1. Mr. HITHESH T L:
(4AD20ME005)

2. Mr. SHAYAN PASHA:

(4AD20ME013)

3. Mr. RAJENDRA PRASAD K:

(4AD20ME011)

DATE :

PLACE : MYSURU
 ACKNOWLEDGEMENT
It is our great pleasure to acknowledge the help of many individuals who helped us to
carry out this project.

We like to express our thanks to our guide Mr. Karthik Kumar M , Professor,
Mechanical Department, ATME College of Engineering, Mysuru, for allowing to take up this
project and his timely help and valuable guidance given to us in the course of the project work.

We would also like to thank, Dr. SRINIVASA K, Professor, HOD, Mechanical

Engineering Department, ATME College of Engineering, Mysuru, for support and guidance in
completing the project work.

We would like to thank our respected principal, Dr. A K Murthy, for having extended
his help for smooth proceeding of the project work and providing the necessary facilities for
the successful completion of the project work.

Project group

1. Mr. HITHESH T L - (4AD20ME005)

2. Mr. SHAYAN PASHA - (4AD20ME013)

3. Mr. RAJENDRA PRASAD K - (4AD20ME011)

 ABSTRACT

The robotic arm is controlled with Arduino so it can be implemented to a robot which
can analyze hazardous area to carry out the task. In order to examine those torque
characteristics, we consider a model of humanoid robot arm and simulate typical object
lifting and transferring tasks by using the robot arm. The majority of current robotic
hands does not completely replace the functionality of a hand and cannot be used in
environments which are designed for the use of human hand. This paper concludes with
some possible applications of 6 D.O.F robotic arm mechanism based on type of end
effector attached to the robotic arm. The robotic arm is controlled with Arduino so it
can be implemented to a robot which can analyze hazardous area to carry out the task.
In order to examine those torque characteristics, we consider a model of humanoid
robot arm and simulate typical object lifting and transferring tasks by using the robot
arm. The majority of current robotic hands does not completely replace the functionality
of a hand and cannot be used in environments which are designed for the use of human
hand. This paper concludes with some possible applications of 6 D.O.F robotic arm
mechanism based on type of end effector attached to the robotic arm.
 Certificate 2
Declaration 3
Acknowledgement 4
Abstract 5

CONTENTS

CHAPTER 1: INTRODUCTION Pg. No.7

1.1 Introduction to the ROBOTIC ARM Pg. No. 7

CHAPTER 2: LITERATURE SURVEY

2.1 Literature Pg. No.8
2.2 Definition of Problem Pg. No.10
2.3 Objectives Pg. No.11

CHAPTER 3: METHODOLOGY Pg. No.12

3.1 Methodology of project Pg. No. 12

CHAPTER 4: Design of the Project Pg. No. 13

4.1 Components required Pg. No. 14
4.2 Mechanical Gripper Pg. No. 14
4.3 Base Pg. No. 14
4.4 Servo moter Pg. No. 15
4.5 Controllers Pg. No. 15
4.6 Connectors Pg. No. 16
4.7 Circuit Diagram Pg. No. 16
4.8 Code for Arduino Pg. No. 17
4.9 Android Application Interface designer
by MIT APP INVENTOR Pg. No. 24
CHAPTER 5: Result & Discussion Pg. No. 25

CHAPTER 6: Conclusion Pg. No. 26

CHAPTER 7: Scope for Future Work Pg. No. 27

CHAPTER 8: Reference Pg. No.28

“ROBOTIC ARM” 2022-2023
CHAPTER 1
INTRODUCTION

INTRODUCTION TO ROBOTIC ARM: Robotic arms are mostly employed in industry

automation and hazardous environment operations. Due to their complexity, many robotic
controllers are prohibitively expensive. Custom machining of high-precision actuators
components. We believe that robotic control research should be pursued. If valuable robotic
arms are developed, progress can be made more quickly . If it provides heavy discount in price.
Affordability increases can lead to a greater level of acceptance, which can lead to speedier
advancement. However, extreme cost-cutting will necessitate design compromises. as well as
compromises There are a variety of dimensions on which to base your decision. Backlash,
payload, and other characteristics of robotic arms can be assessed. Speed, steadiness,
adherence, human safety, and expenditure. Some of these dimensions are more important in
robotics research. More vital than others: for gripping and manipulating objects. The
importance of great repeatability and low reaction cannot be overstated. If the manipulator is
to be humane, it is difficult to maintain human safety. utilised in close proximity to people The
Arduino UNO A000066 is utilised as a controller. Force sensors are positioned at the robotic
arm's brain. Gripper for determining the force that has been exerted to the object, and, At the
joints, potentiometers are utilised to detect position of the motor shaft. We employed the earlier
used model of the produced robotic arm, which was made of aluminium due to its light weight,
resistance to wear, low cost, and ease of machining. Most industrial robots utilize six axes,
which give them the ability to perform a wide variety of industrial tasks compared to robots
with fewer axes . Six axes allow a robot to move in the x, y, and z planes, as well as position
itself using roll, pitch, and yaw movements.

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“ROBOTIC ARM” 2022-2023
CHAPTER 2
Literature Survey

1}Ankur Bhargava et al In this paper a 6 Degree of Freedom (DOF) roboticarm have been
developed. It is controlled by an Ardiuno Uno microcontroller which accepts input signals
from a user by means of a set of potentiometers. The arm is made from four rotarv joints
andend ettector also. where rotary motion IS provided by a servomotor. Each link has been
first designed using Dold works sheet metal working toolbox and then fabricated using a
2mm thick Aluminium sheet.
The servo-motors and links thus produced assembled with tasteners produced the final shape
of the arm. The Arduino has been programmed to provide rotation to each servo moto
corresponding to the amount of rotation of the potentiometer shaft. A robot can be detined
according to the nature of the relative movements between the links that constituient

2}Mahanta G.B et al In this paper the use of soft computing approaches to determine the
inverse kinematics of a Kawasaki RS06L 6-DOF robotic manipulator for a pick and place
operation was presented by the authors. A comprehensive analysis was conducted among
techniques such as artificial bee colony (ABC), firefly algorithm (FA), invasive weed
optimization (IWO), and particle swarm optimization to validate and check the efficacy of the
proposed approaches (PSO). Before the actual experiments, a detailed analysis was
undertaken in a simulation environment to determine the inverse kinematics of the proposed
system, and the results were fed into the Kawasaki Controller for the pick and place job,
demonstrating efficient reversibility.

3}AshratElfasahany et al Survey on Design and Development of competitivelow cost Robot

Arm With Six Degrees of Freedom and development and implementation of robot arm is
done, which has the ability to perform simple tasks, such as light material handling. The
robotic arm is designed and made from acrvlicVolume 3, Issue 3, March - 2018
International Journal of Innovative Science and Research TechnologyISSN No: 2456-
2165material where servo motors are used to perform links between arms. The servo motors
consist of encoder so that no need to use controller. However, the rotation range of the motor
is less than 80 span. which greatly decreases the region reached by the arm and the possible
positions. design of the robot arm was for four degrees of freedom. The end errector is not
considered while designing because readily available gripper is used as it is much easier and
economical to use a commercial.

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4}Jamshed Iqbal et al done a paper on kinematic model of 6 DOF robotic arm. The research
creates kinematic models for a six-degree-of-freedom robotic arm and examines its
workspace. In an unstructured environment, the suggested paradigm allows the manipulator
to be controlled to any attainable position and orientation. Denavit Hartenberg (DH)
parametric system of robot arm position placement underpins the forward kinematic model.
The achieved inverse kinematics model offers the required appropriate joint angles given the
desired position and orientation of the robot end-effector. The forward kinematic model was
tested in MATLAB using Robotics Toolbox, and the inverse kinematic model was
implemented on a real robotic arm. The endeffector of a robotic arm can point at the target
coordinates with a precision of 0.5cm using the proposed model, according to experimental
results. The loom given in this paper can be used to tackle the kinematics problem of other
robot manipulators of similar types.

5} Won-Bum Lee et al The paper was published in 2017 IEEE ICRA. The paper proposes a
six-degree-of-freedom collaborative robot with a multi-degree-of-freedom CBM. For a small
and long-lasting multi-DOF CBM, a double parallelogram linkage and a slider-crank
mechanism are used. The suggested CBMs can be incorporated into the robot linkages, unlike
prior prototypes where some pieces of CBMs protruded out of the robot body due to their
enormous volume. Simulations employing dynamic simulation software were used to verify
the performance of the designed CBM and collaborative robot. The proposed CBMs can
effectively lower the joint torques required to operate the robot, according to simulation results.
Because of the reduction in torque, low-power motors can be employed in collaborative robots,
greatly enhancing crash safety and energy efficiency.

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“ROBOTIC ARM” 2022-2023

Definition of the problem

The following are the project's problem statements:

i. A robot is a sophisticated system. The mathematical modelling reveals a higher order,
requiring the derivation of large equations. As a result, a CAD model can be employed as a
different technique.
ii. Linear controllers must be linearized before being used in robot systems, and the
controller does not account for parameter uncertainty. To address this issue, a non-linear
controller will be utilised.
iii. The hybrid controller comprising two non-linear controllers, the fuzzy and neural-
network controller, can improve the non-linear controller's transient response and steady-state
response.
At present, human arms can do many works at a time but it always involves risk of injury
during work involving lifting of heavy items and picking of radio active substances. Moreover,
medical industry need an arm for people who lost it in accidents.Also , it is seen that efficiency
of a person decreases as his age advances due to which one involved in rough work becomes
unproductive and inefficient .

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OBJECTIVES
1- Design and fabricate a SIX DOF robot arm with gripper (end effector) that can be used
for demonstrative and educational purposes in addition it will be able to hold thing or
repairing thing since it will have a wide work envelope.
2- IoT based device to control the robot arm that successfully achieved the task of lifting
an object from one location to another as per programed sequence.
3- The ability of using this arm in dangerous or poisonous environments to do some work
depending on human arm orders.

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“ROBOTIC ARM” 2022-2023
CHAPTER 3

METHODOLOGY

Review all existing robot types

Design an arm robot with gripper

Implement the mechanical part of arm robot

Implement the electronic part of arm robot

Test the arm robot movements by Mobile

Device through Bluetooth

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“ROBOTIC ARM” 2022-2023
CHAPTER 4

DESIGN OF THE PROJECT

The Robotic Arm is designed using the Microcontroller i.e. ATMEGA328p Micro-controller
using Arduino programming. This process works on the principle of interfacing servos and
potentiometers. This task is achieved by using Arduino board. Potentiometers play an
important role The remote is fitted with potentiometers and the servos are attached to the body
of the robotic arm. The potentiometer converts the mechanical motion into electrical motion.
Hence, on the motion of the remote the potentiometers produce the electrical pulses, which are
in route for the Arduino board. The board then processes the signals received from the
potentiometers and finally, converts them into requisite digital pulses that are then sent to the
servomotors. This servo will respond with regards to the pulses which results in the moment
of the arm. Figure 2.1 shows the image of a servo motor. It consists of a motor which is coupled
to a sensor, used for position feedback, through a reduction gearbox. It also accompanies a
relatively sophisticated controller, usually a dedicated module designed specifically for use
with servo motors

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COMPONENTS REQUIRED

MECHANICAL GRIPPER:

• A mechanical gripper(Fig :1) is used to grip and hold objects while transporting them
from one spot to another. The gripper features a built-in micro servo that allows
• it to open and close its jaws to grip objects.
• The servo's shaft is attached to the end of the first jaw and it meshes
• with the gear on the second jaw.
• The gear turns as the motor rotates, and the jaws open and
• close to release or grip the objects as the gear rotates in mesh.
• A servo motor is connected to a gear link, which meshes with another
• geared link to give a smooth gripping motion for various objects of various sizes
.

Fig: 1
BASE :
1. The base(Fig:2) is designed to sustain the entire assembly while also balancing
2. the entire a
3. rm's centre of gravity.The base enables the arm to perform
4. faultless motions in the required directions, a llowing the arm to cover
5. the entire hemispheric volume. The bearing is fixed in the base and takes
6. on the entire load of the base; It also delivers rotational movement
7. from the base to the robotic arm.

Fig:2
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SERVO MOTOR:
In the robotic arm, there are three major servo motors(Fig:3):
one for the base motions and two on the side of the base plate that
send motion to the arm's numerous linkages. The servo motor is fastened
to the base plate, which maintains it stable and prevents vibrations during use.

Fig:3
CONTROLLERS:
A servo control can be acquired by delivering servo signals, which are a sequence of variable-
width repeating pulses in which the width of the pulse (most common in modern hobby servos)
the duty cycle of a pulse train (less frequent today) defines the position
to be achieved by the servo controller(Fig:4). The controller incorporates the
digital command signal into analogue parameters such as servo motor
shaft movement. We can upload the software for the servo motions with
the help of the controller. We can control a large number of servos at once and
synchronize their operation for -operation of any servo in any sequence and to
synchronize the actuation of four servos consecutively in a loop programme
utilizing the controller(Fig:5).

Fig:4 Fig:5

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CONNECTORS:
Electrical connectors(Fig:6) are the devices that are used to connect electrical terminations and produce
an electrical circuit. These are electromechanical devicesthat are made up of male and female ending
plugs and jacks.The connection may be temporary, such as for portable equipment, or it may act as a
permanent electrical union between two wires or devices, requiring the use of a tool for assembly and
removal. For the connections in our project, we solely used male to male connectors or plugs.

Fig:6

CIRCUIT DIAGRAM:

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“ROBOTIC ARM” 2022-2023
CODE FOR ARDUINO:
#include <Servo.h>
#include <SoftwareSerial.h>
SoftwareSerial Bluetooth(3, 4); // RX, TX

Servo servo1; //BASE

Servo servo2; //HOMBRO1
Servo servo3; //HOMBRO2 no se usa en este proyecto, la idea principal era
usar 2 servos para HOMBRO
Servo servo4; //CODO1
Servo servo5; //CODO2
Servo servo6; //MUÑECA
Servo servo7; //GRIPPER

//10rapido 15medio 20lento

int s1Vel = 15; //BASE
int s2Vel = 25; //HOMBRO
int s4Vel = 20; //CODO1
int s5Vel = 20; //CODO2
int s6Vel = 15; //MUÑECA
int s7Vel = 15; //GRIPPER

int index=0;

int velG=25;

int s1Act,s2Act,s3Act,s4Act,s5Act,s6Act,s7Act; //posicion actual de los

servos
int s1Ant,s2Ant,s3Ant,s4Ant,s5Ant,s6Ant,s7Ant; //posicion anterior de los
servos
int s1[50],s2[50],s3[50],s4[50],s5[50],s6[50],s7[50]; //matrices para almacenas
las posiciones de cada servo

String bt,btS;

void setup(){
Serial.begin(115200);
Bluetooth.begin(9600);
Bluetooth.setTimeout(10);
servo1.attach(5,510,1200); //ancho min y max exclusivo para MG996R base
servo2.attach(11,650,1400); //ancho min y max exclusivo para MG946R
hombro1

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“ROBOTIC ARM” 2022-2023
servo3.attach(6,650,1400); //ancho min y max exclusivo para MG946R
hombro2
servo4.attach(7,650,1400); //ancho min y max exclusivo para MG946R
codo1
servo5.attach(8,650,1400); //ancho min y max exclusivo para MG995 codo2
servo6.attach(9,800,1290); //ancho min y max exclusivo para MG995
muneca
servo7.attach(10,700,1290); //ancho min y max exclusivo para MG995
gripper

s1Ant=90; //BASE
servo1.write(s1Ant);
//Importante empezar s2 y s3 complementados a 180°;es decir; s2+s3=180;
s2Ant=100; //HOMBRO1
s3Ant=80; //HOMBRO2
servo2.write(s2Ant);
servo3.write(s3Ant);

s4Ant=115; //CODO1
servo4.write(s4Ant);

s5Ant=60; //CODO2
servo5.write(s5Ant);

s6Ant=90; //MUÑECA
servo6.write(s6Ant);

s7Ant=60; //GRIPPER
servo7.write(s7Ant);

delay(50);
}

void loop() {

if(Bluetooth.available()>0){

bt = Bluetooth.readString(); // leemos cadena

//////////////////////////// SERVO 1 - BASE
/////////////////////////////////////////////////////////////////////////////////
if(bt.startsWith("s1")){ // comprueba si la cadena comienza con
"s1"
btS = bt.substring(2,bt.length()); // extraigo los caracteres desde la
poisicion 2 en adelante ejem:"s1120" a "120"

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“ROBOTIC ARM” 2022-2023
s1Act = btS.toInt(); //convierto de string a entero
//MUEVO EL SERVOMOTOR CON UN BARRIDO
if(s1Ant > s1Act){
for(int j=s1Ant; j>=s1Act; j--){
servo1.write(j);
delay(s1Vel);}}
else{
for(int j=s1Ant; j<=s1Act; j++){
servo1.write(j);
delay(s1Vel);}}

s1Ant = s1Act;} //el angulo movido(s1Act) se convierte en

la posicion anterior

//////////////////////////// SERVO 2 y 3 - HOMBRO 1 y 2

/////////////////////////////////////////////////////////////////////////////////
if(bt.startsWith("s2")){
btS = bt.substring(2,bt.length());
s2Act = btS.toInt();
Serial.println(s2Act);
if(s2Ant > s2Act){
for(int j=s2Ant; j>=s2Act; j--){
servo2.write(j);
servo3.write(180-j);
delay(s2Vel);}}
else{
for(int j=s2Ant; j<=s2Act; j++){
servo2.write(j);
servo3.write(180-j);
delay(s2Vel);}}

s2Ant = s2Act;}

//////////////////////////// SERVO 4 - CODO1

/////////////////////////////////////////////////////////////////////////////////
if(bt.startsWith("s4")){
btS = bt.substring(2,bt.length());
s4Act = btS.toInt();

if(s4Ant > s4Act){

for(int j=s4Ant; j>=s4Act; j--){
servo4.write(j);
delay(s4Vel);}}
else{

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“ROBOTIC ARM” 2022-2023
for(int j=s4Ant; j<=s4Act; j++){
servo4.write(j);
delay(s4Vel);}}

s4Ant = s4Act;}

//////////////////////////// SERVO 5 - CODO2

/////////////////////////////////////////////////////////////////////////////////
if(bt.startsWith("s5")){
btS = bt.substring(2,bt.length());
s5Act = btS.toInt();

if(s5Ant > s5Act){

for(int j=s5Ant; j>=s5Act; j--){
servo5.write(j);
delay(s5Vel);}}
else{
for(int j=s5Ant; j<=s5Act; j++){
servo5.write(j);
delay(s5Vel);}}

s5Ant = s5Act;}

//////////////////////////// SERVO 6 - MUÑECA

/////////////////////////////////////////////////////////////////////////////////
if(bt.startsWith("s6")){
btS = bt.substring(2,bt.length());
s6Act = btS.toInt();
Serial.println(s6Act);
if(s6Ant > s6Act){
for(int j=s6Ant; j>=s6Act; j--){
servo6.write(j);
delay(s6Vel);}}
else{
for(int j=s6Ant; j<=s6Act; j++){
servo6.write(j);
delay(s6Vel);}}

s6Ant = s6Act;}

//////////////////////////// SERVO 7 - GRIPPER

/////////////////////////////////////////////////////////////////////////////////
if(bt.startsWith("s7")){
btS = bt.substring(2,bt.length());

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“ROBOTIC ARM” 2022-2023
s7Act = btS.toInt();

if(s7Ant > s7Act){

for(int j=s7Ant; j>=s7Act; j--){
servo7.write(j);
delay(s7Vel);}}
else{
for(int j=s7Ant; j<=s7Act; j++){
servo7.write(j);
delay(s7Vel);}}

s7Ant = s7Act;}

//////////////////////////// SAVE //////////////////////////////////////////////////

if(bt.startsWith("SAVE")){
s1[index]= s1Ant;
s2[index]= s2Ant;
s4[index]= s4Ant;
s5[index]= s5Ant;
s6[index]= s6Ant;
s7[index]= s7Ant;
index++;}
///////////////////////// RESET ///////////////////////////////////////////////////
if(bt.startsWith("RESET")){
//memset se utiliza para rellenar un bloque de memoria con un valor
determinado
//memeset("matriz","dato a rellenar","tamaño de la matriz")
memset(s1,0,sizeof(s1)); //rellena con el valor de "0" todas las posiciones
de la matriz
memset(s2,0,sizeof(s2));
memset(s4,0,sizeof(s4));
memset(s5,0,sizeof(s5));
memset(s6,0,sizeof(s6));
memset(s7,0,sizeof(s7));
index=0;}
//////////////////////////// RUN ////////////////////////////////////////////////////
if(bt.startsWith("RUN")){
//Ejecuta los pasos una y otra vez hasta que se pulse el botón "RESET" o
espera hasta que se vuelva a pulsar "RESET"
while(bt.startsWith("RESET") != true){//MIENTRAS NO SE
PRESIONE 'RESET' SE MANTIENE EN EL BUCLE y SOLO FUNCIONA
BOTON "PAUSE"
for(int i=0; i<= index-2;i++){
if(Bluetooth.available()>0){

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“ROBOTIC ARM” 2022-2023
bt = Bluetooth.readString();
if(bt.startsWith("PAUSE") == true){
//Ejecuta los pasos una y otra vez hasta que se pulse el botón
"RUN" o espera hasta que se vuelva a pulsar "RUN"
while(bt.startsWith("RUN") != true){//MIENTRAS NO SE
PRESIONE 'RUN' SE MANTIENE EN EL BUCLE Y SOLO FUNCIONA
BOTON "RESET"
if(Bluetooth.available()>0){
bt = Bluetooth.readString();
if(bt.startsWith("RESET") == true){
break;}
}
}
}//end if(PAUSE)
if(bt.startsWith("ss")){
btS = bt.substring(2,bt.length());
velG = btS.toInt();}
}//end 1er Bluetooth.available
//////// SERVO 1 ////////////////////////
if(s1[i] == s1[i+1]){}

if(s1[i] > s1[i+1]){

for(int j = s1[i]; j >= s1[i+1];j--){
servo1.write(j);
delay(velG);}}

if(s1[i] < s1[i+1]){

for(int j = s1[i]; j <= s1[i+1];j++){
servo1.write(j);
delay(velG);}}
//////// SERVO 2 y 3 /////////////////////
if(s2[i] == s2[i+1]){}

if(s2[i] > s2[i+1]){

for(int j = s2[i]; j >= s2[i+1];j--){
servo2.write(j);
servo3.write(180-j);
delay(velG);}}

if(s2[i] < s2[i+1]){

for(int j = s2[i]; j <= s2[i+1];j++){
servo2.write(j);
servo3.write(180-j);
delay(velG);}}

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//////// SERVO 4 ////////////////////////
if(s4[i] == s4[i+1]){}

if(s4[i] > s4[i+1]){

for(int j = s4[i]; j >= s4[i+1];j--){
servo4.write(j);
delay(velG);}}

if(s4[i] < s4[i+1]){

for(int j = s4[i]; j <= s4[i+1];j++){
servo4.write(j);
delay(velG);}}
//////// SERVO 5 ////////////////////////
if(s5[i] == s5[i+1]){}

if(s5[i] > s5[i+1]){

for(int j = s5[i]; j >= s5[i+1];j--){
servo5.write(j);
delay(velG);}}

if(s5[i] < s5[i+1]){

for(int j = s5[i]; j <= s5[i+1];j++){
servo5.write(j);
delay(velG);}}
//////// SERVO 6 ////////////////////////
if(s6[i] == s6[i+1]){}

if(s6[i] > s6[i+1]){

for(int j = s6[i]; j >= s6[i+1];j--){
servo6.write(j);
delay(velG);}}

if(s6[i] < s6[i+1]){

for(int j = s6[i]; j <= s6[i+1];j++){
servo6.write(j);
delay(velG);}}
//////// SERVO 7 ////////////////////////
if(s7[i] == s7[i+1]){}

if(s7[i] > s7[i+1]){

for(int j = s7[i]; j >= s7[i+1];j--){
servo7.write(j);
delay(velG);}}

Dept. of Mechanical Engineering, ATMECE, Mysuru Page 24

“ROBOTIC ARM” 2022-2023
if(s7[i] < s7[i+1]){
for(int j = s7[i]; j <= s7[i+1];j++){
servo7.write(j);
delay(velG);}}
}// end FOR INDEX
}//end 1er WHILE "RESET"
}

}//if(Bluetooth.available()>0){
}//end void loop

Android Application Interface designer by MIT APP INVENTOR

Dept. of Mechanical Engineering, ATMECE, Mysuru Page 25

“ROBOTIC ARM” 2022-2023
CHAPTER 5

RESULT & DISCUSSION

Robot arms are ideal for operations which are repetitive, consistent and require a very high
degree of accuracy, as well as for applications in which a human worker might struggle to
perform safely.
Robotic arms are fast, accurate and reliable, and can collectively be programmed to perform
an almost infinite range of different operations. The dramatic reduction in buy-in costs for
industrial robotic arms over the past decade has seen them rise to far more widespread use
today than ever before - whether desktop-mounted or installed as part of a high-volume
production line, robotic arms are now commonly found across a broad range of industries and
sectors, including:
*Laboratories
*Testing & sample handling
*Manufacturing
*Industrial automation
*Automated assembly
*Machine feeding
*Machine access

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“ROBOTIC ARM” 2022-2023
CHAPTER 6
CONCLUSION
The design and development of a robotic arm capable of performing modest tasks such as light
material handling are shown in this article. Servo motors were used to make arm movements
on the robotic arm, which was designed and fabricated from aircraft grade aluminium. The
robotic arm's design is limited to six degrees of freedom. This method would make it easier for
humans to avoid the dangers of handling suspicious objects in their current environment and
workplace. With this approach, complex and difficult tasks might be completed faster and more
correctly.
The main focus of this work was to design, and programme robotic arm the robot arm was
designed with five degrees of freedom and talented to accomplish accurately simple tasks, such
as light material handling the robot arm is equipped with several servo 40 motors which do
links between arms and perform arm movements. A microcontroller that drives the servo
motors with the capability of modifying position The programming is done on Microcontroller
using Arduino UNO programming. The potentiometers are also used to detect the angle of
rotation and the signals are then sent to the microcontroller. And you can control the robotic
arm also using android device, in today’s world, this Robotic arm has turned out very
benevolent. Besides Robotics and Automation, these kinds of arms have applications in other
fields also.

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“ROBOTIC ARM” 2022-2023
CHAPTER 7
Scope for Future work
The world has entered the era of Industry 4.0. robots assist human manufacturing, emphasizing
the use of "human-machine collaboration" to move toward smart production. In recent years,
the population aging problem faced by developed countries has caused the production costs of
industry and manufacturing to increase year by year. Enterprises have deployed automation
equipment to improve production efficiency. Various industries have also undergone
tremendous changes in this intelligent wave.
Robotics and Machine Vision are different in professional research fields. Robotics usually
belong to the fields of mechanical engineering and automatic control engineering; while
machine vision belongs to information engineering and electrical engineering. Through the
cooperation of experts in these two major fields, the robot can be given the ability of visual
perception. It can be seen that robot vision is a highly integrated engineering technology that
detects people and objects in the environment through machine vision, calculates their position
on the camera coordinate system, converts to the robotic arm coordinate system, and then
drives the motor Driving the shaft joint to operate the target is a seemingly simple process, but
in fact, it implies complex computer operations.

The hand-eye relationship has its own advantages and disadvantages. The relative position
determines the arm-camera cooperation mode. Traditional robotic arm programming uses the
teaching of multiple arm movement points, allowing the arm to repeat the same action at the
same point. Because the points are fixed, a large number of jigs are needed to fix the workpiece
or the peripheral processing machinery, and the application flexibility is poor. And once an
earthquake or external force changes the relative relationship between the arm and the objects
in the working area, all points must be taught again. If the arm is combined with machine
vision, the position of the arm can be flexibly corrected through the ability of visual recognition
and compensation, and the use of jigs can be effectively reduced, and the flexibility to handle
diverse and multi-posture workpieces can be increased.

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“ROBOTIC ARM” 2022-2023
CHAPTER 8

Reference

1. Katal G, Gupta S, Kakkar K, Design and Operation of Synchronised Robotic Arm,

IJRET, Aug 2013, Volume 2, Issue 8

2. Omijeh B. O, Uhunmwangho R, Ehikhamenle M, Design analysis of a remote

controlled “Pick and Place” Robotic vehicle, International Journal of Engineering
Research and Development, 2014, Volume 10, Issue 5

3. Gunasekaran K, Design and analysis of articulated inspection arm of a robot,

international journals for trends in Engineering and Technology, May 2015, Volume 5,
Issue 1.

4. Kurt E. C, Shang Y, A Geometric approach for the robotic arm kinematics with
hardware design, Electrical design and implementation, Journal of robotics, 2010,
Volume 10.

5. Nisha, Kumar D, Sekar, Vision assisted pick and place robotic arm, AVCIJ, Sept
2015, Volume 2.

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https://howtomechatronics.com/tutorials/arduino/diy-arduino-robot-arm-
with-smartphone-control/

Dept. of Mechanical Engineering, ATMECE, Mysuru Page 29