Volume 13, Issue 6, June 2024

Impact Factor: 8.423

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Prototype Model of Bluetooth Controlled

Robotic Arm
1
Pranav Dhumal, Hemant Pol1, Lalita Kshirsagar1, Vaibhav Gurav1, 2Prof. Prashant Nimbalkar
1
UG Student, Department of Mechanical Engineering, YSPM’s Yashoda Technical Campus Satara, Maharashtra, India
2
Assistant Professor, Department of Mechanical Engineering, YSPM’s Yashoda Technical Campus Satara, , Maharashtra, India

ABSTRACT: The design analysis of an Android Controlled ―Pick and Place¦ Robotic vehicle has been presented in
this paper. This work unravels the fact that man would always want to adhere to safety precautions at workplace and
even in its environment, to be able to handle some specific tasks, like sending the robotic vehicle to hazardous
environment to obtain samples for chemical analysis. It is a microcontroller-based control system which works in
alliance with Android Application. It can be accessed by android application and the application can control the
movement of vehicle as well as its robotic arms.
This system comprises of a Bluetooth module which work as the receiver for vehicle. This sends commands to the
microcontroller which execute according to the signals received by Bluetooth. In this work, the design of a robot is
presented which will move around in four directions and is equipped with gripper for pick and place operation. These
operations will be controlled by a user-friendly interface present on operator’s mobile phone. Depending upon the button
clicked on the application, proper motional commands are given to robot by microcontroller. This project is in aimed to
design and develop a mobile robot which can move according to the button pressed on App. This prototype can be
employed in chemical industry for handling of chemical materials of hazardous nature, or for movement of heavy objects
in any industry. This paper outlines the various stages of operations involved in the pick and place robotic arm. It is an
automated material handling system is synchronizing the movement of robotic arm to pick the object moving on a
conveyor belt. Nowadays various advanced robots are used in industries but still controlling is done manually or using
processors likewise Arduino, microcontroller. But microprocessors have several disadvantages so these disadvantages
can be overcome by PLC
Here Programmable logic and controller is used for controlling and operating robotic arm. All the various problems of
this process have been analyzed properly and have been taken into consideration while programming and designing the
pick and place robotic arm. In this paper we intend to ascertain the state of the art on multifingered end-effectors, also
known as robotic hands or dexterous robot hands, and propose an experimental setup for an innovative task based design
approach, involving cutting edge technologies in motion capture.After an initial description of the capabilities and
complexity of a human hand when grasping objects, in order to point out the importance of replicating it, we analyze the
mechanical and kinematical structure of some important works carried out all around the world in the last three decades
and also review the actuators and sensing technologies used. Finally we describe a new design philosophy proposing an
experimental setup for the first stage using recent developments in human body motion capture systems that might lead
to lighter and always more dexterous robotic hands.

I.INTRODUCTION

Nowadays, robots are increasingly being integrated into working tasks to replace humans especially to perform the
repetitive task. In general, robotics can be divided into two areas, industrial and service robotics. International Federation
of Robotics (IFR) defines a service robot as a robot which operates semi- or fully autonomously to perform services
useful to the wellbeing of humans and equipment, excluding manufacturing operations. These robots are currently used
in many fields of applications including office, military tasks, hospital operations, dangerous environment and
agriculture. Besides, it might be difficult or dangerous for humans to do some specific tasks like picking up explosive

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chemicals, defusing bombs or in worst case scenario to pick and place the bomb somewhere for containment and for
repeated pick and place action in industries. Therefore, a robot can be replaced human to do work. The word robot was
derived from Czech word robota which means ―a forced laborer¦ then later a well-known Russian science fiction writer
Isaac Asimov coined the word robotics. From there on various different developments are being successfully done till
date in the field of robotics in the form of teleported as the trend of the industry is moving from the current state of
automation to robotization. Thus, the robot technology is advancing rapidly. Now a days the most commonly used robots
in industry is a robotic manipulator or a robotic arm. Robotic arm is basically an open closed kinematics chain of rigid
links interconnected by movable joints. The end of the arm is connected to the end- effectors. The end-effect or may be a
tool and its fixture or a gripper or any other device to do the work. The end-effectors is similar to the human hand with or
without fingers.
.

Figure 1: Block Diagram

II.LITERATURE REVIEW
1
M.Cianctietti, A.Arienti, B.M.Follador, B.Mazzalai, P.Dario - Probabilistic self- localization for mobile robots; IEEE
Transactions on Robotics and Automation 16,1, 55-66, 2010. They get inspired by the octopus to and make an interesting
model in robotics due to its high dexterity, variable stiffness and very complex behavior.
2
S.Premkumar, K.Surya Varman, R.Ballamurgan - Design and Fabrication of Low-Cost Pick and Place Equipment,
published in International Research Journal of Engineering and Technology (IRJET), Issue January 2021. Experimental aim
is to collaborate the gripper mechanism and vacuum sucker mechanism working in single pick and place robotic arm.
3
M.Pellicciari, G.Berselli, F.Leali, A. Vergnano - A method for reducing the energy consumption of pick-and-place
industrial robots, Mechatronics, vol. 23, no. 3, pp. 326–334, 2013. This paper shows the method for reducing the total
energy consumption of pick and placed robotic arm. Firstly, electro mechanical models of both series and parallel
manipulators are derived and then by means of constant time scaling, the energy optimal trajectories are calculated. It is
seen that blowing down an operation as much as possible is not always beneficial. Energy consumption of given operation
as a function of the task execution time. Future wor includes improvement of the motor model, development of online
programming algorithms.
4
Mohd Ashiq Kamaril, Yusuff, Reza Ezucin Samin, Babul Salam, Kader Ibrahim - Wireless Mobile Robotic Arm,
Published by Procedia Engineering, 2012. Paper presents the development of wireless mobile robot arm. Wireless ps2

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controller is used to control the pick and place operation. The development of this robot is based on arduina mega platform.
Analysis of speed, distance, load lifted by arm is done to know its performance. This robot expected to overcome the
problem such as placing or picking object that is away from the user, pick and place hazardous object fast and easily.
5
H. Hagenah, W. Bohm, T. Breitsprecher, M. Merklein, S. Wartzack - Modelling, Construction and Manufacture of a
Lightweight Robot Arm, Published by Procedia CIPR, 2013. This paper will show how modern materials as Cellular
Titanium & Nano Crystalline Aluminium can be used to build advanced light weight robot arms. This paper will cover the
definition of the product specification, the setting of a basic design and the optimization of this by means of topology
optimization. This optimization requires an intelligent modeling to be able to investigate different initial setting and
boundary conditions. Different innovative light weight construction materials and the corresponding manufacturing
technologies are developing and analyzed.
6
Embedded Controller, Published by Procedia Engineering, 2012. The aim of study is to develop the and light weight
actuator and applied into has flexible hose robot arm. In this paper, the Slavic master's degree height flexible control and
the trajectory control of the robot arm are proposed. This robot arm has 3dof i.e. bending, expanding and contracting and
Will be applied into has device for human wrist rehabilitation. In this paper the analytical model of year has flexible hose
robot arm is proposed for slavic master's degree height control in trajectory control.

In summary, the work presented in this paper is built on previous research to explore how security of data stored on cloud
relates to people’s trust. While earlier work focused on data storage impacts people, we focus on its impact on the world
wide acceptance of cloud.

III.METHODOLOGY OF PROPOSED SURVEY

The project contains 2 sections.

1)Robot (Receiver end)
2)Control section (Transmitting end)
The control section will be an Android cell phone which is having Bluetooth facility. The data to control the robot will
be transmitted through the cell phone Bluetooth.
There will be a Bluetooth module at the receiver end also. Both the Bluetooth should be paired each other. As soon
as the data sent from the Bluetooth module at the transmitting end, it will receive at the receiver end. The microcontrollers
compare the incoming data with the pre stored data and do the corresponding actions.
Bluetooth-controlled robotic arms typically require the following components and functionalities:
Robotic Arm:
The mechanical arm itself, equipped with motors or actuators to move its joints and end effector.
Microcontroller:
A microcontroller like Arduino or Raspberry Pi to control the movement of the robotic arm based on input received
via Bluetooth.
Bluetooth Module:
A Bluetooth module (e.g., HC-05, HC-06) to establish communication between the robotic arm and the controlling
device (e.g., smartphone, tablet, computer).
Power Supply:
Sufficient power supply to drive the motors or actuators of the robotic arm and power the microcontroller.
Bluetooth Control Interface:
A user interface on the controlling device (e.g., a mobile app) to send commands (like move, rotate, grip) to the robotic
arm via Bluetooth.
Feedback System:
Optionally, sensors or feedback mechanisms to provide feedback to the user about the position and status of the robotic
arm, ensuring precise control and safety.

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Safety Features:
Considerations for safety features to prevent accidents or collisions, such as emergency stop buttons or obstacle
detection sensors.
Programming:
Programming the microcontroller to interpret Bluetooth commands and translate them into actions for the robotic arm,
along with any additional features like gesture control or predefined routines.
By meeting these needs, a Bluetooth-operated robotic arm can be a versatile tool for various applications, including
manufacturing, research, education, and hobbyist projectsm

IV.CONCLUSION AND FUTURE WORK

The project is built on a wired model. Now It developed to work on wireless communication, thus allowing the user to move
in an even easier unrestricted manner. A clamper can be connected on the motor M6 which is allow the movements of the
palm and allow picking and placing of objects. The microprocessor taken the input from the potentiometer and smoothen it
and then generate the corresponding PWM signal itself to actuate the servo motors. Now this is prototype model it can be
customized as per requirement.

The purpose of the project is to provide control of 4 axes moving robot arm design and this robot arm with a suitable
microcontroller and Bluetooth module with an android application. The necessary theoretical and practical information
for this purpose has been obtained and the necessary infrastructure has been established for the project.
Robots pick and place automation speeds up the process of picking parts up and placing them in new locations, while also
increasing production rates. These pick and place robots are more accurate and do not fatigue while doing backbreaking or
hard to maneuver movements that may be difficult for humans. The consistency, quality and repeatability of a pick and
place robot system is unmatched. These systems are also versatile and can be reprogrammed and tooled to provide multiple
applications for consumers.
The objectives of this project have been achieved which was developing the hardware and Software for a Potentiometer
controlled robotic arm. From observation that has been made, it clearly shows that its movement is precise, accurate, and is
easy to control and user friendly to use. The robotic arm has been developed successfully as the movement of the robot can
be controlled precisely. This robotic arm control method is expected to overcome the problem such as placing or picking
object that away from the user, pick and place hazardous object in a very fast and easy manner.

Fig- Prototype model

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REFERENCES

1. WMHW Kadir, RE Samin, BSK Ibrahim. Internet controlled a robotic arm. Procedia Engineering. 2012.
2. Araújo, D. Portugal, M. Couceiro, C. Figueiredo and R. Rocha, "TraxBot: Assembling and Programming of a
Mobile Robotic Platform". In Proc. of the 4th International Conference on Agents and Artificial Intelligence
(ICAART 2012), Vilamoura, Portugal, Feb 6-8, 2012.
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Wheeler, and A. Y. Ng, "ROS: an open-source Robot Operating System," in Proc. Open-Source Software
workshop of the International Conference on Robotics and Automation, Kobe, Japan, May, 2009.
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Saminb , Babul Salam Kader Ibrahim (available at www.sciencedirect.com)
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8. Atmel AVR Microcontroller Primer: Programming and Interfacing by:-Steven F.Barret, Daniel J. Pack
9. Richard E. Pattis. Karel the Robot: A Gentle Introduction to the Art of Programming. John Wiley &Sons, 1981.

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