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Mimi (Robotic Arm)

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0% found this document useful (0 votes)
9 views16 pages

Mimi (Robotic Arm)

Uploaded by

mmmsmaheshwaran
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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3

ABSTRACT

Today, technology is developing in the same direction in line with rapidly


increasing human needs. The work done to meet these needs makes life
easier every day, and these are concentrated in robotic arm studies. The
Robot arm is controlled using an exoskeleton or by performing
predetermined commands. The Exoskeleton Designed in this project
capture movements of human arm with the help of potentiometer which
is kept near various arm joints. The robot arm has the ability to move in
3 axis directions and gripper, with 4 servo motors. The microcontroller is
connected between robot and exoskeleton to send and receive signals.
5

TABLE OF CONTENTS

CHAPTER NO. TITLE PAGE NO

ABSTRACT iv

1 INTRODUCTION 7
1.1 INTRODUCTION 7
1.2 SCOPE OF THE WORK 7
1.3 PROBLEM STATEMENT 7
1.4 AIM AND OBJECTIVES OF THE PROJECT 8

2 SYSTEM SPECIFICATIONS 9
2.1 HARDWARE SPECIFICATIONS 9
2.2 SOFTWARE SPECIFICATIONS 9

3 MODULE DESCRIPTION 10

4 SYSTEM DESIGN 11
4.1 CIRCUIT DIAGRAM 11
4.2 ARCHITECTURE DIAGRAM 11
4.2.1 ACTIVITY DIAGRAM 11
4.2.2 USE CASE DIAGRAM 12
4.2.3 CLASS DIAGRAM 12
4.2.4 STATE DIAGRAM 13
4.2 FLOW CHART 14

5 CODING 15

6 SCREEN SHOTS 17

7 CONCLUSION AND FUTURE ENHANCEMENT 18

8 REFERENCES 19
6

LIST OF FIGURES

PAGE
FIGURE NO FIGURE NAME
NO.
1 ARCHITECTURE DIAGRAM 12
2 FLOWCHART 13
7

CHAPTER 1
INTRODUCTION

1.1 INTRODUCTION
Today, technology is developing in the same direction in line with rapidly
increasing human needs. The work done to meet these needs makes life
easier every day, and these are concentrated in robotic arm studies.
The Robot arm is controlled using an exoskeleton or by performing
predetermined commands.
The Exoskeleton Designed in this project capture movements of human
arm with the help of potentiometer which is kept near various arm joints.
The robot arm has the ability to move in 3 axis directions and gripper,
with 4 servo motors. The microcontroller is connected between robot and
exoskeleton to send and receive signals.

1.2 SCOPE OF THE WORK


This system is aimed at total user-friendly as well as efficient way of
controlling the robotic arm. This project can be used to pick objects with
mimicking user with giving very less effort.

1.3 PROBLEM STATEMENT


Individual can easily control it to perform various activity without help of
third person.
8

1.4 AIM AND OBJECTIVES OF THE PROJECT

Aim and Objectives of the project is to reduce the work load of human
work in many ways:

Individual can easily control it to perform various activity without


help of third person.

People can do work from long distance without being physically


present with connecting robot to internet
9

CHAPTER 2

SYSTEM SPECIFICATIONS

2.1 HARDWARE SPECIFICATIONS

Microcontroller : Arduino UNO


Potentiometer : 10k
Servo motors : SG90 & MG995

2.2 SOFTWARE SPECIFICATIONS

Operating System : WINDOWS 07 OR MORE


Language : C language
10

CHAPTER 3
MODULE DESCRIPTION

Potentiometer:
A potentiometer is a simple mechanical device that provides a varying
amount of resistance when its shaft is turned. By passing voltage
through a potentiometer and into an analog input on your board, it is
possible to measure the amount of resistance produced by a
potentiometer (or pot for short) as an analog value.

Push Button Module:


A momentary push button is one of the simplest input devices for
Arduino. The Push Button Module consists of a momentary tactile push
button along with the connectors.
11

CHAPTER 4
SYSTEM DESIGN

4.1 Circuit Diagram

4.2 ARCHITECTURE DIAGRAM

4.2.1 ACTIVITY CHART


12

4.2.2 USE CASE DIAGRAM

4.2.3 CLASS DIAGRAM


13

4.2.4 STATE DIAGRAM


14

4.3 FLOW CHART


15

CHAPTER 5

SAMPLE CODING

#include <Servo.h> // add servo library

Servo wristMot; // create servo object to control a servo


Servo armMot;
Servo armRotateMot;
Servo gripperMot;

int wristPot = A0 ; // analog pin used to connect the potentiometer


int armPot = A2 ;
int armRotatePot = A3 ;
int gripperPot = A4 ;

int val1;
int val2; // variable to read the value from the analog pin
int val3;
int val4;

float switch1Smoothed;
float switch1Prev;

void setup() {
Serial.begin(9600);
wristMot.attach(9); // attaches the servo on pin 9 to the servo object
armMot.attach(10); // attaches the servo on pin 9 to the servo object
}

void loop() {
val1 = analogRead(wristPot);
val2 = analogRead(armPot); // reads the value of the
potentiometer (value between 0 and 1023)
Serial.print(val1);
Serial.print(" ");
16

val1 = map(val1, 0, 1023, 0, 180);


val2 = map(val2, 0, 1023, 0, 180); // scale it to use it with the servo
(value between 0 and 180)
wristMot.write(val1); // sets the servo position according to
the scaled value
armMot.write(val2); // sets the servo position according to
the scaled value
Serial.print(val1);
Serial.println(val2);

delay(90); // waits for the servo to get there


}
17

CHAPTER 6
SCREEN SHOTS

ROBOTIC ARM:

EXOSKELETON:
18

CHAPTER 7

CONCLUSION AND FUTURE ENHANCEMENT

We would like to add Bluetooth Module for wireless performance and use
hydraulic piston for carrying heavy weigh materials
Hereby we would like to conclude our project MIMI(ROBOTIC ARM)
19

REFERENCES
Robotic arm – Combination of many 3d model from thingiverse.com

https://www.thingiverse.com/thing:1454048
https://www.thingiverse.com/thing:34829
https://www.thingiverse.com/thing:2252203

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