CHAPTER 1

INTRODUCTION
1.1 INTRODUCTION
Robotic arms are advanced electromechanical systems engineered to replicate
and, in many cases, surpass the capabilities of a human arm in terms of
precision, strength, and endurance. These versatile devices are integral to
automation, enabling tasks ranging from repetitive industrial operations to
intricate surgical procedures and exploratory missions in extreme environments.
The fabrication and analysis of robotic arms are intricate processes that demand
expertise in mechanical engineering, s, materials science, and control systems.
Fabrication involves the creation of a functional arm through design, material
selection, and assembly, while analysis ensures its performance, reliability, and
safety through rigorous evaluation. This extended introduction delves deeper
into the methodologies, challenges, and innovations in fabricating and analysing
robotic arms, highlighting their transformative impact across diverse domains.
ratios, ideal for lightweight yet robust structures. Steel is used in heavy-duty
applications, such as robotic arms for forging or construction. Advanced
composites, like carbon fiber-reinforced polymers, are employed in aerospace
and high-precision contexts due to their exceptional stiffness and low weight.
Recent innovations include soft robotics materials, such as silicone-based
elastomers, for flexible grippers that adapt to irregular shapes, critical in food
handling or delicate medical tasks. The choice of materials also accounts for
environmental factors, such as corrosion resistance for underwater robots or
thermal stability for arms in high-temperature settings.
Manufacturing techniques are selected based on component complexity and
production scale. CNC machining ensures micron-level precision for metal parts
like gears and shafts, while 3D printing (additive manufacturing) excels in
creating intricate prototypes or lightweight lattice structures. For example, fused
deposition modelling (FDM) and selective laser sintering (SLS) are used to

1.2 HISTORY OF ROBOTS

1
MEDIEVAL PERIOD
1495:
Though it is unknown whether Leonardo da Vinci's design for the first humanoid robot
was ever implemented, it is possible. The robot's head and neck are flexible, allowing it
to move its head and open and close its jaw while sitting up and waving its arms.
1738:
In Grenoble, France, Jacques de Vaucanson begins creating automata. He totals three
structures. The flute player who could play twelve songs was his first accomplishment.
His second automaton, which played a flute and a drum or tambourine, came in second
place, but his third automaton was by far the most well-known of them all. The duck
served as an illustration of Vaucanson's attempt at "moving anatomy," or the mechanics-
based modelling of human or animal anatomy. ” The duck moved, quacked, flapped its
wings and even ate and digested food .
1847:
Boolean algebra, developed by George Boole, is a mathematical representation of logic .

1898:
At Madison Square Garden, Nikola Tesla constructs and shows off a remote-controlled
robot boat.
1921 :
The word "robot" was first used by Czech playwright Karel Capek in his production of
Rossum's Universal Robots. The word "robot" in Czech, which means "compulsory
labour," comes from the word "robota."

1937-1938 :
Westinghouse creates ELEKTRO a human-like robot that could walk, talk, and smoke.
The world's fair in 1939 was where ELEKTRO made its debut.
1940: Beginning with A Strange Playfellow (later renamed Robbie), Isaac Asimov
creates a collection of short stories about robots for Super Science Stories magazine.
The plot centers on a robot's love for and duty to guard an innocent child. He writes
more robot-related stories over the ensuing ten years, and they are eventually collected
in 1950's volume I, Robot.

1941:
Author of science fiction Isaac Asimov coined the term "robotics" to describe robot
technology and foresaw the development of a significant robot industry. The scientist
and author Isaac Asimov coined the term "robotics" in 1941 to describe the study and
application of robots. The following "Laws of Robotics" were also put forth by Asimov
in his 1942 short story Runaround
2
1948
Elmer Elsie Robots - 8 - 1950 In Computing Machinery and Intelligence, published by
Alan Turing, he suggests a test to determine whether or not a machine has developed the
capacity to think for itself. The "Turing Test" is then coined.
Shakey, the first mobile robot to understand and respond to its own actions, is developed
by the Stanford Research Institute (later to be known as SRI Technology). In addition to
its other accomplishments, SRI was the research center that assisted in the creation of
Tide, the modern laundry detergent. 1968 Mcgee and Frank at the University of South
Carolina developed the first computer-controlled walking machine. 1968 R. Mosher
created the first manually operated walking truck. It had a top walking speed of four
miles per hour. 1969 The Stanford Arm, which was developed by Victor Scheinman,
was the first effective electrically powered, computer-controlled robot arm.

2002 :
The advanced step in innovative mobility (ASIMO) was developed by Honda. It is
meant to serve as your personal assistant. It can identify the name, voice, and face to of
its owner is able to read email and stream video from its camera to a PC.

2010 : Rise of Collaborative Robots (Cobots)

Collaborative robotic arms, or cobots, became a major trend, designed to work safely
alongside humans without heavy safety barriers. Universal Robots, a leader in this
space, introduced models like the UR5 (2012), which offered flexibility for small and
medium-sized manufacturers. Cobots emphasized safety, ease of programming, and
affordability, with improved sensors and lighter materials enabling human-robot
collaboration. By 2021, around 40,000 cobots were in use globally, with the market
valued at $1 billion and projected to reach $11 billion by 2030. 2011: NASA’s Robonaut
2, a humanoid robot with dexterous arms, was deployed to the International Space
Station, showcasing robotic arms’ potential in space exploration.

2014-2015:
Global robot sales surged, with a 29% increase driven by demand for advanced arms in
automotive and electronics sectors.

2020s: Toward Autonomy and Sustainability

Robotic arms continued evolving with Industry 4.0, integrating IoT and cloud
computing for real-time data analysis and decision-making. Autonomous arms began
handling dynamic environments, like sorting randomly oriented parts. Sustainability
became a focus, with robotic arms optimizing energy use and supporting eco-friendly
manufacturing processes.

3
1.3 APPLICATIONS

AGRICULTURE:
The sector that serves as the foundation for human civilization is agriculture.
Agriculture, however, is a seasonal industry that depends on favourable weather, ideal
soil, etc. Additionally, there are numerous repetitive tasks in agriculture that waste
farmers' time and are better handled by robots. These include planting seeds, eliminating
weeds, harvesting, etc. Crop harvesting is typically done by robots, which makes
farmers more productive.

HEALTH CARE:
The healthcare industry has undergone significant change thanks to robots. And
everything has improved! They can assist doctors in performing procedures with greater
precision, serve as prosthetic limbs, give patients therapy, etc. There are countless
options. The Da Vinci Robot is one example of this, which can assist surgeons in
carrying out difficult procedures on the heart, head, neck, and other delicate areas.

MANUFACTURING
Welding, assembly, packing, and other routine tasks in the manufacturing sector don't
call for the use of the mind at all. Robots can efficiently complete these tasks, leaving
humans to handle mentally demanding and creative tasks. Under the direction and
supervision of a human, these robots can be taught to carry out these monotonous and
repetitive tasks with accuracy. This choice is also the best for hazardous manufacturing
procedures that might harm people.

4
MILITARY :

There are numerous uses for robots in the military as well. They can be used as medics
to assist friendly forces, as armed systems to attack the opposing forces, or as drones to
keep watch on the enemy. MAARS (Modular Advanced Armed Robotic System), a
popular robot used in the military, is designed to resemble a tank.

SECURITY:

Imagine if all the security guards are robots? Even thieves would be scared! That’s why
robots are being proposed as security agents as they can protect humans, and the
wouldn’t be in danger like human security guards would be. Robotics companies are
presently experimenting with pairing human security consultants with robot guards.
American company Knight Scope, a leader in this industry, has autonomous security
robots that can provide real-time, actionable intelligence to human security guards.
Robots like these can assist in solving crimes like armed robberies, burglaries, domestic
abuse, fraud, hit-and-runs, etc. Both submersibles and humans are limited in their ability
to descend to that depth. Now that specialized robots have been created, it is possible to
finally explore the mysterious depths of the ocean. These remote-controlled robots can

5
explore the ocean's depths and gather information and pictures of the aquatic plant and
animal life.

SPACE EXPLORATION

There are numerous activities in space that astronauts should avoid at a Humans are
unable to spend all day on Mars collecting soil samples or working on spacecraft repairs
from the outside while they are in the void of space. Robots are a great option in these
circumstances because there is no risk of human life being lost. Robots are a great
option in these circumstances because there is no risk of human life being lost.
Therefore, NASA and other space agencies frequently use robots and autonomous
vehicles to perform tasks that humans cannot. For 19 example, Mars Rover is an
autonomous robot that travels on Mars and takes pictures of Martian rock formations
that are interesting or important and then sends them back on Earth for the NASA
scientist to study.

ENTERTAINMENT

Another popular topic in the entertainment sector is robots. They can be used behind the
scenes in movies and television shows to manage the camera, provide special effects,
etc., but they can't exactly become actors and actresses. They can be employed for dull,
routine tasks that are unsuitable for humans because, after all, the film industry is a
creative one. Robots can also perform stunts that are extremely dangerous for people to
perform but look really cool in an action movie. The magical experiences of visitors are
being improved by the use of autonomous robots in theme parks like Disney World.

6
UNDERWATER EXPLORATION

Robots are a fantastic option for exploring locations that are difficult for humans to
access, like the ocean's depths! Because of the high-water pressure in the deep ocean,
neither humans nor machines like submarines can travel all the way down there. Now
that specialized robots have been created, it is possible to finally explore the mysterious
depths of the ocean. These remotecontrolled robots can explore the ocean's depths and
gather information and pictures of the aquatic plant and animal life.

CUSTOMER SERVICE

There are robots created specifically to resemble humans for aesthetic reasons. These
robots are primarily used in the field of customer service in high visibility areas to
promote robotics. One such example is Nadine, a humanoid robot in Singapore that can
recognize people from previous visits, make eye contact, shake hands, continue chatting
based on previous meetings, etc. Another such customer service robot is Junko Chihira
in Japan, a humanoid robot working at the tourist information centre in Aqua City
Odaiba, a shopping centre on Tokyo’s waterfront.

REAL LIFE ROBOTS:

SOPHIA Nations Hanson Robotics, a Hong Kong-based company, created Sophia, a

social humanoid robot. After being activated on February 14, 2016, Sophia made her
first public appearance at South-by-South West (SXSW) in Austin, Texas, in the United
States, in mid-March.

Sophia has been featured in numerous high-profile interviews and has been covered by
media outlets all over the world. Sophia became the first robot to be granted citizenship
of any nation when she received Saudi citizenship in October 2017. Sophia became the
first non-human to receive a unified title when she was named the United Nations
development program's first Innovation Champion in November 2017. ASIMO Honda
developed the humanoid robot ASIMO (Advanced Step in Innovative Mobility) in
2000. It is currently displayed in the Miraikan museum in Tokyo, Japan. On July 8,
2018, Honda published the final ASIMO update on their official page, announcing that
they would no longer be developing or manufacturing ASIMO robots in favor of
concentrating on more useful applications for the technology they had developed over
the course of ASIMO's existence.

7
Robot PEPPER

One of the first robots in the world capable of recognizing faces and emotions is called
Pepper. The Pepper robots were developed by Softbank, a Japanese company, and were
instantly sold out upon their initial release in 2014. They are built to interact with
people, providing customer service, making product recommendations to retail
customers, assisting with banking transactions, and supporting active learning in
classrooms.

ROOMBA

Possibly sitting in your home right now is one of the most well-known AMR robots in
the entire world. Robotic vacuum cleaner Roomba, created by iRobot in 2002, uses
sensors to find its way 23 around your house. The first of their kind, there are currently more
than 40 million Roombas in residences all over the world.

ROOMBA – Home cleaning robot You may have encountered a Da Vinci robot, but you
probably were not aware of it. This is because surgical procedures use these articulated robots.
When you think of medical procedures, your mind probably immediately conjures images of
doctors using handheld instruments, but many surgeons actually work with such robots. Robotic
surgery is not a novel concept, even though the tools have improved over time. Intuitive, the
company that creates the Da Vinci surgical systems, has actually existed since the mid-1990s.

The system mimics a surgeon's movements in real time thanks to an "arm" and "wrist" that
combine the best features of human anatomy with a robot's wider range of motion. For
minimally invasive procedures like laparoscopic surgery and coronary artery bypass surgery, the
instruments are used.

8
ATLAS

Atlas is a bipedal humanoid robot that was primarily created by the American robotics
company Boston Dynamics under the direction and funding of the DARPA. The robot,
which was unveiled to the public on July 11, 2013, was initially created for a variety of
search and rescue tasks.

Aldebaran Robotics, a French robotics company with headquarters in Paris that was
acquired by Softbank Group in 2015 and rebranded as Softbank Robotics, developed
NAO (pronounced now), an autonomous, programmable humanoid robot. With the
beginning of Project Nao in 2004, the robot's development got underway. On August 15,
2007, Nao took over as the robot used in the Robo Cup Standard Platform League
(SPL), an international robot soccer competition, from Sony's robotic dog Aibo.

Fig 1.23 NAO Robot The Nao was utilized for Robo Cup 2008, 2009, and 2010, and the
NaoV3R was selected as the platform for the SPL. Several versions of the robot have
been released since 2008. The Nao Academics Edition was developed for universities

9
and laboratories for research and education purposes. It was released to institutions in
2008.

1.4 ADVANTAGES

SAFETY

The most obvious benefit of using robotics is safety. Sharp objects, hot machinery, and heavy
machinery are all easily dangerous to people. By giving dangerous tasks to a robot, you're less
likely to face a significant medical bill or legal trouble and more likely to face a repair bill.
Robots' ability to reduce some risks will be appreciated by workers who perform hazardous
tasks.

Fig. Robot performing welding operations

SPEED

Robots do not need breaks or are easily distracted. They do not ask for a day off or to
leave an hour earlier. A robot can never become anxious and begin to move more
slowly. Additionally, they are not required to be invited to staff meetings or training
sessions. Since robots can work continuously, production is accelerated. They prevent
your staff from overworking themselves to meet tight deadlines or impossibly high
standards.

10
JOB CREATION

Jobs are not eliminated they simply alter the jobs that already exist. Robots require
human oversight and supervision. More people will be needed to build the robots as our
needs increase. The more robots we need, the more people we will need to build those
robots. Fig 1.8 Man monitoring a robot You can keep your employees motivated in their
roles at your company by training them to work with robots. They will witness the
developments and have the exceptional chance to learn fresh technical or engineering-
related skills.

CONSISTENCY

Robots don't have to split their attention between numerous tasks. Never is their work
dependent on the work of others. They won't experience unforeseen emergencies or
need to relocate to finish a different urgent task. They are constantly present and
carrying out their assigned duties. Generally speaking, automation is much more
dependable than human labor.

PERFECTION

Quality work will always be produced by robots. Since they’re programmed for precise,
repetitive motion, they’re less likely to make mistakes. In some ways, robots serve as
both a quality assurance system and an employee. The absence of preferences and
quirks along with the elimination of human error will always result in a product that is
predictably flawless.

11
 CHAPTER 2

LITERATURE REVIEW
1. Introduction to Robotic Manipulators

- Robotic manipulators, particularly those with multiple degrees of freedom (DOF),

have become integral to automation across various industries. They enhance precision
and efficiency in tasks traditionally performed by humans, such as assembly, welding,
and material handling (Bilal et al., 2018).

- The design and control of robotic arms have been active research areas, focusing on
improving their functionality and adaptability in complex environments (Bilal et al.,
2018).

2. Kinematic Modelling

- Kinematic modeling is essential for understanding the motion of robotic arms without
considering the forces involved. It involves determining the position, velocity, and
acceleration of the manipulator's end-effector based on joint parameters (Bilal et al.,
2018).

- Two primary approaches to kinematic modeling are:

- Forward Kinematics: This method calculates the end-effector's position and

orientation from given joint angles. It is straightforward but does not account for the
complexity of inverse calculations (Bilal et al., 2018).

- Inverse Kinematics: This approach determines the necessary joint angles to achieve a
desired end-effector position. It is more complex due to the potential for multiple
solutions and the need for numerical methods in many cases (Bilal et al., 2018).

3. Denavit-Hartenberg (D-H) Parameterization

- The Denavit - Hartenberg (D-H) convention is a widely used method for representing
the kinematic chains of robotic manipulators. It simplifies the process of deriving
transformation matrices by defining four parameters for each joint: link length, twist
angle, joint offset, and joint angle (Bilal et al., 2018).

12
- This systematic approach allows for the efficient calculation of the manipulator's
configuration and is crucial for both forward and inverse kinematics (Bilal et al., 2018).

4. Types of Joints and Configurations

- Robotic arms typically utilize two types of joints:

- Revolute Joints: These joints allow rotational movement around a single axis,
providing flexibility and a wide range of motion.

- Prismatic Joints: These joints enable linear movement along an axis, essential for
applications requiring precise positioning (Bilal et al., 2018).

- The combination of these joints in multi-DOF manipulators enhances their ability to

perform complex tasks, making them suitable for various applications, including
surgical robotics and automated assembly lines (Bilal et al., 2018).

5. Control Strategies

- Effective control of robotic manipulators is critical for achieving desired performance.

The implementation of PID (Proportional-Integral-Derivative) controllers is common in
position control applications, allowing for precise manipulation of the end-effector
(Bilal et al., 2018).

- The use of microcontrollers, such as the Tiva C Launchpad, facilitates the integration
of control algorithms and sensor feedback, enabling real-time adjustments to the
manipulator's movements (Bilal et al., 2018).

6. Challenges in Robotic Arm Design

- Despite advancements, challenges remain in the design and control of robotic arms,
particularly in achieving high precision and reliability in dynamic environments (Bilal
et al., 2018).

- Addressing these challenges requires ongoing research into advanced control

techniques, improved kinematic models, and the integration of artificial intelligence for
adaptive learning (Bilal et al., 2018).

13
 CHAPTER - 3

OBJECTIVES OF PROJECT
As part of our B.Tech minor project, our objective is to design and build an Arduino-
powered robotic arm that can carry out basic automation tasks like pick-and-place
operations. Through this project, we aim to apply the theoretical knowledge we've
gained in embedded systems, electronics, and mechanical design, and bring it together
into a practical, working model.

We chose to use Arduino as the core controller for our robotic arm because of its
simplicity, flexibility, and open-source nature. It allows us to program and control the
arm using C/C++, while also making it easy to interface with different sensors and
actuators. The arm will be driven by servo motors that provide precise angular motion,
allowing us to replicate the function of a human arm with multiple degrees of freedom.

One of our key goals is to create a robotic arm that is cost-effective and easy to build
using readily available components. We want our project to be accessible to students,
hobbyists, and even small industries looking for affordable automation solutions. For
the structural parts, we plan to use lightweight materials such as acrylic sheets or 3D-
printed components to keep it lightweight yet functional.

Another important part of our objective is to gain hands-on experience with real-time
control systems and hardware-software integration. Throughout this project, we’re
learning how to control servo motors through precise coding, handle input/output pins
on the Arduino, and write code that ensures smooth and coordinated movements of the
robotic arm.

Beyond just building the robot, our aim is to strengthen our understanding of how
electronics, mechanics, and software interact in a real-world system. Working as a team,
we’re also improving our problem-solving, project management, and communication
skills, which are crucial in any engineering field.

By the end of this project, we hope to have a fully functional robotic arm that not only
demonstrates basic automation tasks but also showcases our ability to bring a concept to
life using the skills we've learned during our course. We believe this project will serve

14
as a solid foundation for future exploration in robotics, automation, and embedded
systems.

CHAPTER – 4
ELEMENTS OF THE SYSTEM
4.1 PARTS OF ROBOTIC ARM

 3D PRINTED PARTS
 COMPONENTS USED
 MG995 SERVOMOTOR
 ARDUINO UNO
 BREAD BOARD
 JUMPER WIRES
 HC-05 BLUETOOTH MODULE

4.1.1 3D PRINTED PARTS

Before starting the printing operation, we need to place the PLA filament in the
Extruder. Once the setup is done, we need to start the printer and start the printing
operation. All the parts are similarly printed using the Flash forge Dreamer 3D printer.
The Nozzle gets heated upto 200 ºC and it melts the filament and then it makes layers
on the printer platform as shown in the figure 3.10. Once the printing is completed, we
need to let the platform cool for some time and then collect the part from the printer.

15
 Fig. 3D Printed Parts of the Robotic Arm

4.1.2 MG995 SERVOMOTOR

A high-speed standard servo, the MG995 Metal Gear Servo Motor is used in many RC
models, including RC cars, helicopters, and airplanes. It can rotate approximately 180
degrees (60 in each direction). delivers 12kg/cm at 6V and 10kg/cm at 4.8V. It is a
digital servo motor that more quickly and effectively receives and processes PWM
signals. It is outfitted with sophisticated internal circuitry that offers strong holding
power, good torque, and quick updates in response to outside forces. They are
protected by a tight, durable plastic case that keeps them dry and dust-free, which is a
very helpful quality in RC boats, monster trucks, and other vehicles. It comes with a 3-
wire JR servo plug that works with Futaba connectors.

16
4.1.3 ARDUINO MEGA

1. Arduino MEGA is a low-cost, flexible, and easy-to-use programmable open-source

microcontroller board that can be integrated into a variety of electronic projects.
Relays, LEDs, servos, and motors can be controlled by this board as output devices,
and it can interface with other Arduino boards, Arduino shields, and Raspberry Pi
boards.

2. AVR microcontroller Atmega328, six analog input pins, and 14 digital I/O pins, six
of which are used for PWM output, are all included in the Arduino UNO.

3. This board has a USB interface, which enables it to be connected to a computer

using a USB cable and programmed using the Arduino IDE (Integrated Development
Environment) program.

4. While the SRAM is 2KB and the EEPROM is 1KB, the device has 32KB flash
memory, which is used to store the number of instructions.

5. The operating voltage of the unit is 5V which projects the microcontroller on the
board and its associated

6. The input voltage ranges from 6V to 20V, with 7V to 12V being the recommended
range, while the circuitry operates at 5V.

17
4.1.4 BREAD BOARD:

1. A breadboard serves as the foundation for building electronic prototypes. The term
"bread board" originally referred to a polished piece of wood used for slicing bread.

2. To create temporary circuits for testing or to try out an idea, use a breadboard. It is
simple to change connections and replace components because no soldering is
necessary. Parts are not damaged and can be re-used afterwards.

3. Almost all the Electronics Club website projects started life on a breadboard to
check that the circuit worked as intended.

4. A breadboard makes it simple and quick to build temporary electronic circuits or

conduct circuit design experiments.

5. Breadboards allow programmers to quickly connect wires or components due to the

rows and columns of internally connected spring clips underneath the perforated
plastic enclosure.

18
 Figure Bread Board

4.1.5 JUMPER WIRES

Simply put, jumper wires are wires with connector pins at each end that can be used to
connect other wires. Without soldering, attach two points to one another. With
breadboards and other prototyping tools, jumper wires are frequently used to make it
simple to change a circuit as required.

Figure Jumper wires

4.1.6 HC-05 BLUETOOTH MODULE

19
The HC-05 Bluetooth module is a popular and affordable wireless communication
device used in embedded systems and robotics projects. It enables serial
communication between microcontrollers (like Arduino) and Bluetooth-enabled devices
such as smartphones or laptops. The module operates on Bluetooth 2.0 and supports
both master and slave modes. It communicates using UART (Tx and Rx pins)

and is widely used for wireless control applications like controlling robots, home
automation, and data transfer.

Figure HC 05 Bluetooth Module

CHAPTER – 5

20
 METHODOLOGY
In this project, we followed a structured and iterative methodology to design, develop,
and control a robotic arm using an Arduino Mega and Bluetooth-based wireless
communication. Our objective was to create a Five-degree-of-freedom robotic arm
capable of performing basic tasks such as picking and placing small objects. The
process was divided into distinct phases: mechanical design, component selection,
electronics integration, software development, and testing.

We began by identifying the functional requirements of the robotic arm. We decided to

include six servo motors—three large (MG996R) for high torque joints and three small
(SG90) for lighter movements. This configuration allowed us to achieve multiple
degrees of freedom, mimicking a human arm's shoulder, elbow, wrist, and gripper
movements.

After defining the mechanical structure, we used SOLIDWORKS software to design

the individual components of the robotic arm. The CAD models helped us visualize the
movement range and identify potential design flaws early in the process. We made
several iterations based on torque calculations, motor compatibility, and material
availability.

Once the design was finalized, we moved on to selecting the electronic components.
The Arduino Mega 2560 was chosen because of its numerous I/O pins, which are
essential for controlling multiple servo motors simultaneously. We opted for the HC-05
Bluetooth module to enable wireless communication between the arm and a mobile
app developed using MIT App Inventor.

Next, we focused on the control logic. We programmed the Arduino using the Arduino
IDE, writing code that would interpret Bluetooth signals from the mobile app and
convert them into PWM signals to control the servo motors. We ensured that the
signals were clean and the motors responded in real-time.

The mobile app interface was designed to be user-friendly, featuring sliders and
buttons for each servo motor. Each control element was mapped to a specific motor,
allowing us to manipulate the arm intuitively. We tested the app extensively to ensure
stable connectivity and responsiveness.

21
Throughout the project, we followed an iterative approach, continuously refining our
design and code based on testing outcomes. Each component was individually tested
before final assembly to identify and fix potential issues early. This approach
minimized the risk of failure in the final build.

In conclusion, our methodology emphasized careful planning, iterative testing, and

integration of mechanical and electronic systems. By dividing the project into
manageable phases and focusing on each aspect in detail, we were able to create a
functional and reliable robotic arm.

5.2 FABRICATION

Materials and Tools Used:

Arduino Mega 2560: A microcontroller board with 54 digital I/O pins and 16 analog
inputs, suitable for handling multiple servo motors.

HC-05 Bluetooth Module: A wireless module that enables serial communication

between the Arduino and the mobile device.

MG996R Servo Motors (x3): High torque servo motors used for the base and shoulder
joints to lift heavier parts of the arm.

SG90 Servo Motors (x3): Lightweight servo motors used for wrist and gripper
movements.

Laser-cut Acrylic Sheets (5mm and 3mm): Used for constructing the frame and joints
of the arm due to their durability and ease of cutting.

Screws, Nuts, and Bolts: Fasteners of various sizes used to assemble mechanical parts
securely.

Jumper Wires and Breadboard: For making electrical connections between

components.

External Power Supply (6V/5A): Supplies sufficient power to drive all servo motors
without straining the Arduino.

SOLIDWORKS Software: CAD software used to design 3D models and generate 2D

drawings for fabrication.

22
Laser Cutting Machine: Used for accurately cutting the acrylic sheets based on CAD
drawings.

Screwdrivers, Wire Strippers, Hot Glue, and Soldering Kit: Basic tools for assembling,
soldering, and securing components.

We began by preparing the mechanical components. Using SOLIDWORKS, we

exported the 2D drawings of each robotic arm part for laser cutting. The arm was
designed with modular joints, each intended to hold a servo motor and allow rotational
motion. The acrylic sheets were cut with high precision using a laser cutter based on
the exported DXF files.

Each part was then manually inspected for accuracy. We used sandpaper and files to
smooth out edges and ensure proper fit. The joints and arm segments were assembled
using screws and bolts, ensuring all rotating parts had minimal friction. We used
washers and spacers where necessary to prevent over-tightening and to allow smooth
servo movement.

The servo motors were then mounted onto the joints. The large MG996R motors were
fixed at the base and shoulder joints to handle heavier loads, while the SG90 motors
were used for wrist and gripper movements. We secured the motors using brackets and
custom-cut motor holders to ensure a snug fit.

glue at some joints to prevent vibration-induced For the electronics, we created a

compact layout on a breadboard, connecting the servo signal pins to the appropriate
PWM-enabled digital pins on the Arduino Mega. The power supply for the servo
motors was provided separately to avoid overloading the Arduino. We added a
common ground to ensure consistent performance.

The Bluetooth module was connected to the Arduino's TX and RX pins via jumper
wires, with attention paid to proper voltage levels. We used a voltage divider to bring
the Arduino’s 5V output down to the 3.3V required by the HC-05’s RX pin.

After assembling the mechanical and electrical components, we organized the wiring
using cable ties and adhesive mounts to maintain a clean and accessible setup. We also
used hot loosening.

Fabrication required significant patience and precision. Minor misalignments or loose

connections would drastically affect performance, so we conducted multiple dry runs
23
 during assembly. In the end, we achieved a well-balanced structure with stable and
responsive mechanical movement.

Analysis of Robotic Arms

The analysis of a robotic arm is a comprehensive evaluation process to validate its

design, optimize performance, and ensure operational safety. This phase employs
theoretical, computational, and experimental methods to assess the arm’s behaviour
under various conditions. Below are the key aspects of analysis, expanded with
additional depth:

Kinematic Analysis: Kinematics studies the arm’s motion without considering forces.
Forward kinematics maps joint parameters (angles or displacements) to the end-
effector’s position and orientation, essential for tasks like welding or painting. Inverse
kinematics solves the reverse problem, calculating joint configurations for a desired
end-effector pose, critical for pick-and-place operations. The Denavit -Hartenberg (DH)
convention standardizes kinematic modelling, while Jacobian matrices analyse velocity
relationships, aiding in singularity avoidance (configurations where the arm loses DoF).
Software like MATLAB, Robo DK, or CoppeliaSim simulates kinematic behaviour,
identifying workspace limitations and optimizing reachability.

Dynamic Analysis: Dynamics accounts for forces, torques, and inertias during motion.
The Newton-Euler method computes joint torques iteratively, suitable for real-time
control, while the Lagrangian approach derives equations based on energy principles,
ideal for complex systems. Dynamic analysis ensures the arm can handle payloads
without instability, vibration, or excessive actuator strain. For example, a robotic arm
lifting a 50 kg load must maintain stability at high speeds. Multibody dynamics tools
like ADAMS or Simscape simulate interactions between links, guiding actuator sizing
and energy optimization. Friction, backlash, and gravitational effects are also modelled
to enhance accuracy.

Structural Analysis: The arm’s mechanical integrity is evaluated using Finite Element
Analysis (FEA) to simulate stresses, strains, and deformations under static and dynamic
loads. Tools like ANSYS, Abaqus, or COMSOL predict failure

The fabrication process was a critical phase in our project, as it involved converting our
digital design into a physical prototype. This process required precise measurements,

24
accurate machining, and careful assembly to ensure the robotic arm performed as
expected.

To bring our design to life, we opted for 3D printing to fabricate the structure of the
robotic arm. This method provided the flexibility to precisely replicate our CAD model
while maintaining strength and reducing overall weight. Each component was printed
using PLA material, which offered a good balance of durability and ease of
manufacturing. The modular nature of 3D printing also allowed us to make iterative
design improvements efficiently during the prototyping phase. This approach ensured
seamless integration of the servo mounts and joints, aligning perfectly with the
mechanical design envisioned in CATIA.

CHAPTER – 6

RESULT AND DISCUSSION

25
1.3 RESULT

CHAPTER – 7

26
 CONCLUSION & FUTURE SCOPE
7.1 CONCLUSION

REFERENCE

27
[1] 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.

[2] Rahman A. Khan A. H. Dr. Ahmed T. Md Sajjad M. Design analysis and

Implementation of Robotic arm -The Animator, American Journal of Engineering
Research, 2013, Volume 2, Issue 10.

[3] Gautam R. Gedam A. Zade A, Mahawadiwar A. Review On Development of

Industrial robotic arm, IRJET, March 2017, Volume 4, Issue 3.

[4] 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] Katal G, Gupta S, Kakkar K, Design and Operation of Synchronized Robotic Arm,
IJRET, Aug 2013, Volume 2, Issue 8.

[6] Gunasekaran K, Design and analysis of articulated Inspection arm of a robot.

International journals for trends.

[7] Introduction and Objective Robotic Arm by (Abdul Zahier Ismail)

https://www.scribd.com/document/362905868/Introduction-and-Objective-Robotic-
Arm

[8] Patil, C., Sachan, S., Singh, R. K., Ranjan, K., & Kumar, V. (2009). Self and
Mutual learning in Robotic Arm, based on Cognitive systems. West Bengal: Indian
Institute of Technology Kharagpur.

[9] Craig, J. J. (2005). Introduction to Robotics-Mechanics and Control (3rd ed.). (M.
J. Horton, Ed.) Upper Saddle River, USA: Pearson Prentice Hall.

[10] Angelo, J. A. (2007). Robotics: A Reference Guide to the New Technology.

Westport: Greenwood Press.

[11] Carlson, M., Donley, E., Graf, K., & Jones, T. (2013). Helping Hand: Senior
Design Final Documentation. Orlando: University of Central Florida. [12] ROBOT
ARM CONTROL WITH ARDUINO by Aimn Mohamed Ahmed Ghiet

28
 MECHANICAL AND AERONAUTICAL ENGINEERING :
https://www.researchgate.net/publication/317277584

Minoru Baba, “Pick and Place for automatic test handler.” .

[12] Yang Liu and Michael Yu Yang, “Optimal Design of Remote Centre Compiance
Devices of Rotational Symmetry.” .

[13] “Robot end effector,” Wikipedia, the free encyclopedia. 27-Jun-2016.

[14] M. M. B. S. Pachaiyyapan and T.Sridhar, “Design and Analysis of an Articulated

Robotic Arm for various Industrial Applications,” 2015.

[15] FANUC America Corporation, Automated Bottle Pallet Unloader with FANUC
Pick & Place Robot – Clear Automation. 2016.

[16] “Understanding Robot Specifications 101.” [Online]. Available:

https://www.robots.com/blog/viewing/understanding-robotspecifications-101.
[Accessed: 30-Sep-2016].

[17] https://en.wikipedia.org/wiki/Artificial_intelligence.

[18] https://chat.openai.com/chat.

References

- Bilal, M., Khan, M. O., Mughal, A., & Ali, N. (2018). Design and Control of 6 DOF
Robotic Manipulator. University of Engineering and Technology, Faisalabad Campus.
DOI: 10.13140/RG.2.2.28474.85440.

This literature review synthesizes key findings from the provided context and integrates
them into a cohesive overview of the current state of research in robotic arms, focusing
on kinematic modeling, control strategies, and applications.

29