CHAPTER 1: INTRODUCTION

Automation is revolutionising the way companies run their operations. Machines now carry out tasks on a
repetitive and dangerous basis, leading to a larger number of varied and more effective systems. One of
the most practical applications which is important and is used in numerous applications, is the robotic
arm. A robotic arm can closely, imitate the arm mechanical movement of a human and carry out different
actions, such as picking, placing, rotating and gripping [1]. This project seeks to construct a robotic arm
that contains an Arduino UNO as the main controller and servo motors to control the robotic arm joints.
The aim is to create a programming low-cost arm that shows the connection between control systems,
electronics and mechanics. This allows the robot arm to be controlled with potentiometers to turn motors
and change angles relatively in real time based on the output of the user input [2]. Robotic arms are
important to today's manufacturing, medical, and hostile situations. Robotic arms are used in factories to
perform assembly and welders duties. For instance, robotic arms may be used in hospitals to perform
surgery. In environments that are either dangerous to humans, such as areas with radiation, or underwater,
there is a movement toward performing these tasks remotely [3]. Because of Arduino's existence, this
project is open to students and professionals alike. Arduino's open-source platform, ease of programming
and its large amount of community and manufacturer support presents it as a quasi-ideal platform for
educational and innovative use [4]. The project can use 4 or 6 servo motors with variable degrees of
freedom which allows the arm to simulate complex human-like motion. This project will also take into
account calibration and potency regulations. Servo motors require specific control signals and voltage
levels. Therefore (due to the level of current these servo motors must control) it is necessary to employ an
external power source and a DC-DC buck converter that provides the servo motors the correct levels of
voltages and power without becoming too hot, or damaging themselves [5]. Altogether, this project for a
robotic arm is not simply about making a prototype; it is about understanding how these smart machines
are built and how we can apply them to solve the issues we encounter in our daily lives. It is the first step
toward automation, robotics, and smart systems.

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 C H A P T E R 2 : L I T E R AT U R E

Robot arms have been researched and used in different ways throughout industries and educational
projects. They have transformed from basic mechanical manipulators to programmable, intelligent
systems with complex capabilities. There have been a number of research endeavours aimed at bringing
robotic arms closer to being cost-effective and more accessible. One of the integration features that have
become increasingly popular is Arduino UNO, with its low cost, open-source nature, and ease of
communication with servo motors. Arduino-based systems are prevalent in educational environments for
motion control and automation projects [1].

One of the studies talked about the application of potentiometers to manage the motion of robotic arms.
Analog input can be translated into digital signals through Arduino's ADC (Analog-to-Digital Converter)
and used to position servo motors with precision. This arrangement offers natural, manual control and
makes it easier to program the robot to replicate human motion [1].
Another program followed a 6-degree-of-freedom (6-DOF) robotic arm built out of metal and utilizing
high-torque servo motors like the MG996R, but focused initially on static stability, dynamic range of
motion, and repeatability. A windows based .NET interface was proposed to control the robotic arm in a
series of formal pre-programmed movements as semi-autonomous robotics [5].
Another angle of study that is emerging is gesture control of the robotic arms. There was a study that
examined the use of sensor based technologies (accelerometers and gyroscopes) for man-machine
interactions, that utilized some aspect of the human arm or hand motion. This area may be particularly
considered for medical or assistive robots [2].

Structurally, robotic arms are typically built out of lightweight materials, which primarily could be plastic
or aluminium. The availability of low-cost prototyping allows the use of hobbyist-level fabrication of
robotic arms with entire foam board or cardboard builds, allowing someone new in the area to develop
their own robotics project for a considerably lower cost, and without too much frustration [1][3]. The
build process may be limited, but completely viable to establish a good basis to understand the principles
of servo control, kinematics, and if desired feedback [1].
This area has been well-supported by educational platforms like Instructables and open-source initiatives
contributing to a community of knowledge sharing with tutorials showing everything from how to wire
the servos and interface with an Arduino board, to how to program the servos using simple C++ code and
the accompanying Servo.h library. The DIY tutorials also touched on real-life issues, such as power
management and calibrating the motors [4].

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 CHAPTER 3: SYSTEM COMPONENTS

List of Components:

• Microcontroller – Arduino UNO

• Servo Motors
• Power Supply
• Ice - cream sticks
• Jumper wires
• Bread board

Components Description :

3.1 Microcontroller – Arduino UNO

The core of the system is the Arduino UNO in the fig 3.1, an open-source microcontroller board . It has
six PWM pins that are utilised to transmit control signals to the servo motors. It also has analog input
pins, a USB interface, and can be programmed with the Arduino IDE [1][2].

Fig 3.1 : Arduino Uno

3.2 Servo Motors

The system employs 4 to 6 servo motors based on the design as shown in the below in fig 3.2. These
motors allow accurate angular motion and are suitable for use in robotic arm joints. Examples of such
motors include MG996R, SG90, and DMS15-270. The motors have a rotational capability of 120° to 270°
depending on their specifications [3][5].

Fig 3.2 : Servo Motor

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 CHAPTER 3: SYSTEM COMPONENTS

3.3 Power Supply

Servo motors draw larger currents than a USB connection provides. To supply the system with power, a
9V to 20V rated lithium-ion battery pack that has a minimum output current requirement of 2A is used.
This provides an efficient, compact source of power well-suited to applications involving high current,
such as robotic arms as shown in the fig 3.3.
For the supply of stable and secure voltage to servo motors, power from the lithium-ion battery is
controlled by a DC-DC Buck Converter (XL4015). The module lowers input voltage to a stable 5V
output, which is suitable for the majority of servo motors. It also increases system efficiency and prevents
component overheating due to over voltage.
This setup ensures that all of the servos are provided with sufficient and clean power to ensure smoother
and more dependable performance while conducting lengthy procedures or load.

Fig 3.3 : Power Supply

3.4 Mechanical Structure

The robotic arm's physical structure is constructed using aluminium (for strength) or foam/cardboard (for
budget builds). Every joint is controlled by a dedicated servo motor [1][3] . But in this project we’ve used
the ice -cream stick as to form a robotic arm as shown in the fig 3.4.

Fig 3.4 : Robotic Arm using ice - cream sticks

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 CHAPTER 4: CIRCUIT SCHEMATICS

Construction of a robotic arm entails wiring together several servo motors, a power source, and optional
control inputs to the Arduino UNO. The circuit has to be made in a way that it can deliver sufficient
power while providing safe and precise control of the arm.

4.1 Servo Motor & Microcontroller Connections

Every servo motor is linked to one of Arduino's PWM (Pulse Width Modulation) pins — usually pins 3, 5,
6, 9, 10, and 11. The pins provide accurate signals that drive the servo arms' angles. The signal cables are
guided through a breadboard or a servo motor shield [1][2].

4.2 Power Supply Configuration

A 12V external power adapter or battery is employed. It is plugged into a buck converter (e.g., XL4015)
that reduces the voltage to 5.1V, which is perfect for driving servo motors. This is important since
Arduino cannot drive multiple servos directly from USB — this can harm the board [3][5].

4.3 Key Assembly Notes

Connect power supply GND, buck converter GND, and Arduino GND together to provide a common
ground. Upload code to Arduino prior to powering motors since servo calibration relies on default
positions. Utilise jumper wires and header pins to keep connections neat, particularly if no shield is
employed. And the whole circuit digram is shown in the fig 4.1

Fig 4.1 : Robotic Arm Circuit Schematic

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 CHAPTER 5: METHEDOLOGY

The step-by-step development of the hand gesture-controlled robot car begins by assembling the
hardware, then comes the actual testing and fine-tuning of the system. Each stage contributes to result in
smooth operation and accurate execution.

5.1 Assembly of Components

The initial task was to put together the mechanical framework. The arm was constructed using either
aluminium components (of a 6DOF kit) or cheaper materials such as foam board and cardboard but here
we are using Ice cream sticks. As shown in the fig 5.1 the servo motors were integrated at each joint to
manoeuvre the base [1][2].

Fig 5.1 : Flowchart for execution

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 CHAPTER 5: METHEDOLOGY

5.2 Wiring and Power Management

As shown in the fig 5.2, servos connected to the PWM pins from Arduino UNO (3, 5, 6, 9, 10, 11). The
power supply was from an external 12V battery regulated using a buck converter (XL4015) giving them
an appropriate 5V and current they require. This is vital to prevent damaging the Arduino due to heat, as
power from only USB supply is not enough for a motor load [3][5].

Fig 5.2 : Block Diagram representing the robotic arm

5.4 Programming

Arduino programming was done utilising the Servo.h library in the Arduino IDE. All the servos were
defined as objects and operated based on predetermined angles or real-time analog input. In more
sophisticated arrangements, the system was also tested with a .NET desktop GUI or LabVIEW interface
[4].

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 CHAPTER 5: METHEDOLOGY

Arduino Code :

#include <Servo.h>

//define our servos

Servo servo1;
Servo servo2;
int joyX = 0;
int joyY = 1;
int joyValX, joyValY;
int cPos1 = 90; //initial servo position
int cPos2 = 90; //initial servo position
void setup(){ servo1.attach(3);
servo2.attach(5);
servo1.write(currentPos1);

servo2.write(currentPos2);}

void loop(){
joyValX = analogRead(joyX);
joyValX = map(joyValX, 0, 1023, 0, 180); //servo value between 0-180
joyValY = analogRead(joyY);
joyValY = map(joyValY, 0, 1023, 0, 180); //servo value between 0-180
if (joyValX > currentPos1) {
for (int pos = currentPos1; pos <= joyValX; pos++) {
servo1.write(pos);
delay(15); // adjust this value for speed
}
} else {
for (int pos = currentPos1; pos >= joyValX; pos--) {
servo1.write(pos);
delay(15); }
}
if (joyValY > currentPos2) {
for (int pos = currentPos2; pos <= joyValY; pos++) {
servo2.write(pos);
delay(15); // adjust this value for speed
}
} else {
for (int pos = currentPos2; pos >= joyValY; pos—)
{ servo2.write(pos);
delay(15); // adjust this value for speed }
} // Update current positions
currentPos1 = joyValX;
currentPos2 = joyValY; }

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 CHAPTER 5: METHEDOLOGY

if (joyValY > currentPos2) {

for (int pos = currentPos2; pos <= joyValY; pos++) {
servo2.write(pos);
delay(15); // adjust this value for speed
}
} else {
for (int pos = currentPos2; pos >= joyValY; pos--) {
servo2.write(pos);
delay(15); // adjust this value for speed
}
}

// Update current positions

currentPos1 = joyValX;
currentPos2 = joyValY;
}

5.5 Calibration and Testing

Calibration was performed by uploading the code first and operating the arm without any mechanical
load. Servo horns were removed and re-installed only after the motors have reached their default positions
(e.g., 90° or 120°), so that there are always consistent starting points [3] as shown in the fig 5.3 below .

Fig 5.3 (a) Fig 5.3 (b)

Fig 5.3 : The fig a and b represents whole robotic arm in

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 CHAPTER 6: FUTURE SCOPES

Although the existing robotic arm is operational and serves its design purpose, there is ample scope for
improvement and expansion. Future iterations of this project can incorporate smarter control mechanisms,
better sensors, and more robust materials to increase performance and usability in real-world applications.

6.1 Increased Degrees of Freedom

More degrees of freedom (DOF) i.e., twist at elbow or wrist rotation, would be a way to make it more
general-purpose and make it perform advanced actions like sorting, rotating, and aligning objects with
precision [1].

6.2 Sensor Integration

It would be possible to greatly increase the degrees of feedback and automation by adding sensors, e.g.,
infrared, or force sensors. For example, adding an ultrasonic distance sensor and locating it at the end of
the arm could both provide a sense of nearby objects and allow the arm to modify its path avoiding a
collision, or better align itself with intended objects [2].

6.3 Gesture and Voice Control

The arm could be enhanced further by essentially allowing it to be voice or gesture controlled by the aid
of peripherals gyro, accelerometers or voice modules. By making this additional step to become more
accessible, we are now able to use it remotely and hands-free which is a concern in assistive technology in
any environment where discipline, accuracy and speed is the difference between risk and opportunity [2]
[3].

6.4 Wireless or IoT Control

If we added Bluetooth, Wi-Fi, or IoT-based platforms also such as Blynk or Firebase for in the case of
advancements in real world cases [1][4].

6.5 Material Upgrade

Replacing the cardboard or foam parts for metal alloys or 3D-printed ABS / PLA plastic would make it
less compliant and more robust. This would allow the robotic arm to carry larger loads, or operate in more
rugged environments without damaging [3].

6.6 Machine Learning and Computer Vision

For some more advanced use cases, the arm could have AI that could identify objects utilizing computer
vision. The arm may even use previous run mapping, utilizing the best paths chosen based on machine
learning algorithms. The arm may also learn to complete tasks without code written, that had to be
written by hand.

6.7 Applications
Assuming those changes are made, the robotic arm could be useful in:
• Medical science for either surgical or rehabilitation assistance.
• Manufacturing for repeating typical tasks with precision.
• Agriculture to automate harvesting or sorting items.
• Education as an example of robotics, control systems and embedded programming.

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 CHAPTER 7: CONCLUSION

The robotic arm that we made is a low-cost and feasible innovation using an Arduino UNO, servo motors,
mechanical construction, electronic control, and basic coding that is analogous to the human arm to a
reasonable level to only complete pick-and-place tasks. We performed many examples for PWM control,
raw value reading, servo control, powered through-board, etc. The robotic arm performed as expected
when responding to user needs and there was consistency over different user tests of performance. For our
manual user tests we used potentiometer knobs for control the arm manually, but during our
demonstration of the controls we also mentioned automating control, and we provided access to the
software for others to use the autonomous capabilities. Because of its general-use functionality, the
extensibility of Arduino UNO supports the use of methodologies other than the movement of the arm. The
modularity of the robotic arm still will have purpose-use efficiency to be a tool such as prototype, EDU,
and small-scale automate. Due to upgrades- we plan for wireless control, sensor feedback, and machine
learning- the robotic arm could potentially be converted into a intelligent and autonomous robotic arm.
The method we applied to this project, as well as the additional dialogue gives a context to build
knowledge around robotics, starting from scratch, and indicates the directions of sophisticated
opportunities for the development of mechatronics.

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