International Journal of Advance Research, Ideas and Innovations in Technology

ISSN: 2454-132X
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(Volume 7, Issue 4 - V7I4-1491)
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Robotic arm to pick and place
Sai Krishna Aitha Y. Deepthi Reddy P. Mani Kumar
[email protected] [email protected] [email protected]
Sreenidhi Institution of Science and Sreenidhi Institution of Science and Sreenidhi Institution of Science and
Technology, Hyderabad, Telangana Technology, Hyderabad, Telangana Technology, Hyderabad, Telangana

ABSTRACT 2. LITERATURE SURVEY

In [1], it is proposed to construct a robot arm that is controlled
Robotics has emerged as a more important area in the current by a natural human arm movement, the data for which was
technological era. When compared to human labor, robots are gathered using accelerometers. The arm's development was
more precise. This study presents a method for replicating a based on the ATmega32 and ATmega640 platforms, plus a
human arm by using a smartphone to operate it. A robotic arm personal computer signal processor. Finally, this arm should be
is a mechanical device that has been programmed to carry out able to solve problems like picking up and depositing hazardous
certain activities. This paper describes the creation of a robotic or non-hazardous goods objects that are too far away from the
arm that can pick and place objects and is controlled through user.
Bluetooth. The Android application serves as a transmitter,
sending commands to the receiver to control the robotic arm’s In [2], the design and development of a robotic arm is
movement. The Bluetooth module establishes a connection done utilizing an AT mega microcontroller is described. The
between the phone and the robotic arm. After linking the robotic arm reacts to gestures and is designed to follow a
robotic arm with the smart phone’s Bluetooth, different predetermined course. The robotic arm imitates the supplied
moments of the robotic arm may be controlled with a single tap input gesture based on the user's arm movement.
on the android application. Potentiometers detect the motions. The potentiometer moves
the servo motors that control the moments of the robotic arm.
Keywords: 3D printing, Bluetooth, Degrees of Freedom,
End-Effector, Robotic Arm. In [3], Two people (Gourab Sen Gupta,S. C. Mukhopadhyay
1. INTRODUCTION and Matthew Finnie) suggested developing anthropomorphic
Robots are self-operated robots that take the place of humans in robotic arm control through the Internet or LAN in the
some tasks, particularly those that are repetitive. Robots are year 2009. The robot arm can be controlled remotely, and its
increasingly being utilized in a variety of industries and have a sensory feedback signals may be accessed by the user.
wide range of applications, including military operations, Images are captured by a robotic arm camera and
medical operations, hazardous environments, and many more. transmitted to the control station. A master-slave control
Robotic arms can be employed in a variety of challenging system is used to operate this robotic arm.
conditions where human touch is impossible and their operation
of picking and placing can injure people. For example, in a In [4], The Raspberry Pi acquires and analyses data from a
science lab dealing with hazardous chemicals or in military database. This program was created based on an algorithm
operations dispersing a bomb, robotic arms can be employed in that was designed to lift the item. After then, internet users
a variety of circumstances. We have developed a robotic arm may operate the robots' arms from anywhere and at any time
which can be controlled by using android smart phone through by utilizing a web-based user interface. The AT-mega
Bluetooth. platform was used to create and develop this robot.

The robotic arm may be self-contained or operated manually, 3. TECHNICAL DESCRIPTION

and it can perform a wide range of activities with excellent A Robotic Arm was created utilizing 3D printing technology
precision. The robotic arm may be customized for either and an Arduino UNO microcontroller board with Bluetooth
industrial or household application. End effectors are designed technology, which is operated via a smartphone application.
to accomplish certain activities such as welding, rotating The program is made up of button controls that may be used
gripping, and a variety of other operations, depending on the to execute a variety of tasks. This action regulates the
application. Wireless mobile robots have progressed movements of the base, shoulder, elbow, hand, wrist, and
throughout time as well. gripper. The application and the robotic arm have established

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 International Journal of Advance Research, Ideas and Innovations in Technology

communication using Bluetooth. The Mobile Application communication. USART at 9600 baud rate is used to
offers a Bluetooth connectivity option, which is connected to communicate with the module. Data mode and At-command
the Bluetooth module in the Robotic Arm. mode are the two modes available. Bluetooth can receive data
in data mode. Bluetooth may transfer data in At-command
mode. Bluetooth is set to data mode in this project. Vcc, gnd,
Tx, and Rx are the four pins. Vcc is for power, gnd is for
ground, Tx is for data transmission, and Rx is for data
reception through Bluetooth. The Bluetooth module's Tx and
Rx are linked to the Arduino Uno's Rx and Tx.

3.3 Servo motors

Servo Motors control the motion of the arms and end-
effector. This project makes use of Mg996 servo motors,
which have a torque of 11kg/cm and only require a 5V power
source. It's a rotatory motor with exact and precise angle,
velocity, and acceleration control. It is controlled via a closed
Fig 1: Block Diagram of Robotic arm loop system. It may rotate from 0 to 180 degrees. It can
identify a malfunction in the mechanism's operation, offer
3D modelling software (Autodesk Fusion 360) was used to feedback, and fix the problem. These are extremely accurate
create the robotic arm. Drawings are exported after they have motors that can run at both high and low speeds. The power
been designed in software. Our goal is to build actual pieces wire is red, the ground cable is black, and the signal cable is
of the robotic arm and combine them as we designed them in yellow. PWM signals are used to drive servo motors. As a
Autodesk software, and then use a 3D printer to create a result, the signal line must be linked to the controller's PWM
model of the robotic arm. The servo motors are assembled pin.
with the 3D printed components. The arm operates in five
axes and can be controlled by five servo motors, a stepper 3.4 PCA8695 servo driver
motor, and a DC motor. End-effectors, which are situated at The PCA8695 servo driver was utilized to operate the servo
the end of the arm, are utilised to interact with the external motors. It's a 16-channel servo motor driver with the ability
environment. The application of the robotic arm influences to operate 16 servos at once. It only has two input pins, which
the end-effector selection. Because our goal is to pick and the PCA8695 with I2C demultiplexes. Vin, Vcc, Gnd, SDA,
position, we chose a four-fingered end effector as our gripper. SCL, and OE are the six pins. Vcc is the power supply pin,
End-effectors play an essential and intricate function in gnd is connected to the board's gnd, SDA is the data pin, SCL
selecting and positioning objects since they must hold the is the clock pin, and OE is the output enable pin. Vin is an
grasp of any object. optional 5V power output connector. One of the most
significant advantages of the PCA8695 is that it can cascade
62 drivers to operate 992 servo motors using the same two
pins.

3.5 Stepper motor

A brushless DC motor that transforms one full cycle
revolution into an equivalent number of steps is known as a
stepper motor. It's a 200-step-per-revolution hybrid stepping
motor with a 1.8-degree step angle. The motor has a torque
of 3.2kg-cm. It's a control system with an open loop. The base
of the robotic arm is controlled by a stepper motor. The
project uses a nema 17 stepper motor. There are no feedback
Fig 2: Robotic arm mechanical design
loops in place to control the motor's steps. It is entirely
controlled by the motor's internal structure.
The following components has been used in the project
3.6 A4988 stepper motor driver
3.1 Arduino Uno
A4988 driver has been utilized to operate the stepper, make
The Arduino Uno microcontroller was utilized in this project.
operation easier, and achieve micro stepping. It can control a
It's an AT mega series microcontroller on an open source
bipolar stepper in five different resolutions: full, half, quarter,
board. Arduino cc is the company that created the board. The
eighth, and sixteenth steps. A4988 can only control one
Arduino microcontroller is an 8-bit microcontroller with 14
motor at a time. It has 16 pins namely Vcc, gnd-1, Vmot, gnd-
digital pins and 6 analog pins. Using an open source software
2, 1A, 1B, 2A, 2B, step, dir, sleep, reset, MS1, MS2, and
called Arduino IDE (Integrated Development Environment)
MS3. Vcc and gnd-1 are connected to 5V and gnd of micro
and a type B USB connector, the code is uploaded to the
controller, Vmot and gnd-2 are connected to external motor
board. It can be powered by a USB cable or by an external
power supply (8V-30V), stepper motor four wires are
battery through a power jack.
connect to 1A, 1B, 2A, and 2B respectively, step pin is used
to control the number of steps and dir pin is used to determine
3.2 Bluetooth Module
the direction of motor rotation. Sleep pin is put to high on the
The HC-05 Bluetooth Module was utilized in this project,
break out and the pin is an active low which make board not
and it has a range of 10 meters in open space. It's a serial port
to sleep. Reset is also an active low pin. Sleep is connected
protocol module that makes serial communication quick. In
to reset. The five step resolutions are achieved through MS1,
the ISM band, it employs UHF radio waves between
MS2, and MS3.
2.402GHz and 2.48GHz. It's a two-way (full duplex) wireless

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 International Journal of Advance Research, Ideas and Innovations in Technology

4. SPECIFICATIONS Robotic arm connected with the user via Bluetooth to a

Our robotic arm is having following features and specification. Bluetooth module installed in the robotic arm control system.
1. Degree of Freedom: 5 When the user taps each button on the app, the input signal
2. Payload Capacity (Fully Extended): 300gm or control signal is supplied from the paired Android smart
3. Maximum Reach (Fully Extended): 45cm phone and sent via Bluetooth to the robotic arm. Each button
4. Rated speed (Adjustable): 0-0.3 m/s stores a specific identifying data. That data from the smart
5. Joint speed (Adjustable): 0-60 rpm phone is sent in ASCII format to be adopted by the Bluetooth
6. Hardware interface: USB module and then transferred to Arduino for continuous
7. Control Software: computer interface (GUI) operation which will be decoded by the Bluetooth module.
8. Shoulder Base Spin: 180° The received input signal to the Arduino is decoded and
9. Shoulder Pitch: 180° converts into a command. Robotic Arm scans the command
10. Elbow Pitch: 180° with its pre-defined commands and operation is performed as
11. Wrist Pitch: 180° the command of the user. If the command received to operate
12. Wrist spin: 180° the base then signal is sent to the A4988 stepper driver which
13. Gripper Opening (Max): 8cm controls the stepper motor. If command received from
shoulder, elbow, hand, or wrist then signal is sent to the
5. WORKING PCA8695 which controls servo motors. If the command
The robotic arm basically has 2 sections: transmitter and received from grip then it is sent to the N20 motor present in
receiver section. Transmitter consists control buttons of the gripper which opens and closes the end-effector.
mobile application with Bluetooth connectivity. Receiver
contains four levels of computing: receiver module (HC-05), 6. RESULTS AND CONCLUSION
microcontroller (Arduino UNO), motor driver level, and
motors level.

Fig 5: Robotic Arm

From this paper it can be concluded that one-way

communication is established between the android application
Fig 3: Robotic arm application and the robotic arm. The main objectives of developing robotic
arm and implementing pick and place operation with faster
Android Application contains buttons to control the base and completion time with lowest errors has been achieved. Robotic
wrist to move left and right; shoulder, elbow, and hand to arm movements are accurate, easy to control, precise and user
move up and down; gripper to open and close. It also contains friendly. Anyone with non-experienced can also control the
a connect robot button which is used to connect the receiver robotic arm with ease and in an efficient manner. Robotic Arm
section of robotic arm via Bluetooth. User have to activate is controlled using Bluetooth via mobile application. The
Bluetooth in the mobile and start connecting the receiver. purpose of this project is to pick and place the objects and gain
Remember that the receiver must be power on and ready to control of a robotic arm with 5 degrees of freedom using a
be connect. If Bluetooth is in deactivated mode, then it microcontroller and Bluetooth module with android application
promotes the user to activate it. Once activated user can scan is achieved. As Bluetooth is a short ranged communication it can
for the Bluetooth network that is provided to robotic arm and be replaced with Wi-Fi or Zig-bee module for long range
connect to it. After connecting user can operate the robotic communication. Through this design Complex and repetitive
arm as required. work can be easily achieved.

7. REFERENCES
[1] P.Adeeb Ahammed and K.Edison Prabhu, “Robotic Arm
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[3] Gourab Sen Gupta,S. C. Mukhopadhyay and Matthew
Finnie, “WiFibased control of a robotic arm with remote
vision”, IEEE Conference Publications, 2009,Pages: 557 –
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Fig 4: Circuit Diagram of Robotic Arm [4] Pandapotan Siagian and Kisno Shinoda, “Web based

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 International Journal of Advance Research, Ideas and Innovations in Technology

monitoring and control of robotic arm using Raspberry Pi”, vision”, IEEE Conference Publications, 2009,Pages: 557 –
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