ABSTRACT

Robotic arm is a reprogrammable and multifunctional manipulator design to assist human in

various surroundings. It is able to overcome human inefficiency in performing repetitive task

such as pick and place operation. Thus, industrial in assembly and manufacturing have widely

integrated robotic arm into their assembling line to overcome the problem of human inefficiency.

Internet of things (IoT) allow data to be exchange between devices through the connection of

many devices. The integration of internet of things with robotic arm allows smart industry to be

realized. The purpose of this research is to design and build a three degree of freedom robotic

arm with a mechanical gripper. The robotic arm can be controlled remotely through android

mobile device to perform pick and place operation while Matlab provides the graphical

movement of the robotic arm as a feedback.

1
 1:-INTRODUCTION

Robot are used in various environment ranging from homes to industries to provide assistant to

human for a range of purpose such as operation in hazardous situations or operation in

manufacturing sector [1]. The design of a robot can be varied depending on its function,

application and the environment. Robotic arm is most commonly used in industry such as

manufacturing and assembling. The use of robotic arm is to overcome human inefficiency in

performing repetitive task such as pick and place operation. Robotic arm is a reprogrammable

and multifunctional manipulator design to assist human in various surroundings. Robotic arm is

able to overcome human inefficiency in performing repetitive task such as pick and place. Thus,

industry such as assembly and manufacturing have widely integrated robotic arm into their

assembling line to overcome the problem of human inefficiency [2-4]. Internet of things (IoT)

allow data to be exchange between devices through the connection of many devices [5, 6].

Internet connection has fundamentally changed the arrangements for monitoring and control and

the use of open or public standards and personal computer systems (PCs, tablets, smart phones)

bring significant benefits to their users and producers [7]. This concept can be further extended

to be integrated into various wearable energy harvesting devices [8] and implantable wireless

biomedical applications, such as wireless micropumps, micromixers, and microvalves [9-11].

The capabilities and the functionality of a robot depends largely on the needs and its

environment. Robot will then be varied accordingly to suit the needs. For example, robotic arm

has been widely integrated into industry or factory to assist human in performing repetitive task.

The used of robotic arm in industry promotes better product quality, productivity and increase

efficiency [12, 13]. Most of the time, robotic arm is required to be train or teach before it can

spring into action. The training or teaching process are normally carried out through teach

2
pendant in a certain distance within the factory. The training or teaching process on the robotic

arm will pose a great challenge in the absence of the relevant person in charge or engineer [14-

17]. This is due to the fact that the training process on a robotic arm requires an in-depth

knowledge not only on the robotic arm but also on the surrounding environment and material

that the robotic arm will be handling. The integration of IOT with robotic arm allows smart

industry to be realized. The purpose of this research is to design and build a three degree of

freedom (DOF) robotic arm with a two-finger mechanical gripper. The robotic arm can be

controlled remotely through android mobile device (AMD) to perform pick and place operation

[18].

The Field of robotics has been exponential growth with the amalgamation of multiple domains.

The holistic approach is proving to be a boon, where communication engineering, mechanical

engineering, embedded system and so many more are together creating robot with high

flexibility. Present technologies can only control robots up to a radius of 500 meters, but our aim

in this project is to target controlling a robot from a remote location which is more than 1000

miles away. We use WIFI as the medium foe communication. We are achieving this operation by

communicating using two computers. These computers connected to the Wi Fi pass on serial

data and also communication is established between one computer located near the robot and a

microcontroller present, which control its trajectory. Moreover robot will be having its own

senses to dodge obstacle, which will also give about its position. Future scope of this project is to

establish the same connection but make the bot intelligent and autonomous.

This robot is controlled by motor drive and node mc devices have transmitters and receivers to

make the job. The transmitter (mobile hotshot) send the command to receivers. The input

command are processed by components and jobs done by custom bot .Some also use the term

3
industrial Internet interchangeably with IoT. Specialize in robotic solutions for the home with

our snow removal robots, remote controlled lawnmowers and even a robotic cooler to provide

you with refreshment and entertainment. In the military travel and operate in dangerous areas

and in medical industry to assist in procedures.

2. LITERATURE REVIEW

2.1 Robotic Arm

Robotic is a fusion of not only electronic, mechanical and electrical engineering but it also

includes other engineering fields such as computer science, mathematics, technology and science

[4, 19]. In general, robotic arm is a reprogrammable and multifunctional manipulator that

resemble a human arm. The movement of robotic arm is driven by actuator which is located at

the joint of the robotic arm. Motion of human arm differs from the motion of articulated robot

arms. Although the robot joints have fewer degrees of freedom, they are able to move in larger

angles. For example, the elbow of an articulated robot can bend up or down whereas a person

can only bend their elbow in one direction with respect to the straight arm position [12]. Actuator

is a device or component that converts energy into motion. Example of actuator are AC motor,

DC motor, stepper motor, hydraulic piston and pneumatic piston. End effector is the tool that

perform work or operation and is usually located at the end of the kinematic chain [20, 21].

2.2 Internet of Things (IoT)

In general, IoT is the connection of devices to the Internet. It allows data to be exchange

between devices, and it is able to overcome the limitations of bus topology connection. The

“things” can be referred to any sort of devices such as alarm clock, watch, car, kitchen, and even

including robotic arm. The booming of IoT allows the realization of managing, monitoring or

4
even controlling of electrical and electronic devices through a 3G mobile phone [21, 22]. IoT can

be applied into a variety of fields such as industrial, health-care, military, business and

management to form different kinds of applications. This is possible as internet bridge the gap

between the physical world and the virtual world by allowing physical raw data to be exchange

between devices [5]. This kind of structure has many shortcomings, such as complex wiring, the

line is very easy to destroy, difficult of maintenance, and etc. [5]. This reinforce the idea of

connecting devices to the internet as it is able to overcome the limitations of bus topology

connection. On top of that, it is speculated that the booming of IoT will greatly reduce the

interaction of humans with computer and other electrical and electronic devices, which results in

the increasing of number of “things” and number of active internet user [19]. Finally, the current

industry can be transformed to become “smarter” though the integration of IoT with the industry.

5
 2:-BLOCK DIAGRAM

A 12 Volt DC Power Supply has been apply to Microcontroller and Motor Driver. The

Microcontroller text input and gives output to the Wi-Fi module. Here by directional arrow has

been between the Microcontroller and Wi-Fi module. Motor Driver is the by directional arrow

has been used between the Microcontroller and Mobile Control Internet.

6
3:CIRCUIT DIAGRAM

7
 4:-PROGRAM CODE
#define BLYNK_TEMPLATE_ID "TMPL3oIB3ShlX"
#define BLYNK_TEMPLATE_NAME "PROJECT TRY"
#define BLYNK_AUTH_TOKEN "dg1JrzPW2mMVMCG7rQUCnw-B7js5_sZ0"

#define BLYNK_PRINT Serial

#include <ESP8266WiFi.h>
#include <BlynkSimpleEsp8266.h>

//Define the relay pins

#define A D0
#define B D1
#define C D2
#define D D3
#define E D4
#define F D5
#define G D6
#define H D7

//#define H D4
//#define I D5

//#define BLYNK_AUTH_TOKEN "ST8us6cnbbkSfMrWhVurydnaIdCQHxEa" //Enter your

blynk auth token

char auth[] = BLYNK_AUTH_TOKEN;

char ssid[] = "data";//Enter your WIFI name
char pass[] = "data1234";//Enter your WIFI password

//Get the button values

BLYNK_WRITE(V0) {
bool value1 = param.asInt();

if (value1 == 1)
{
digitalWrite(A, 1);
}
else
{
digitalWrite(A, 0);

8
 }
}

BLYNK_WRITE(V1)
{
bool value2 = param.asInt();

if (value2 == 1)
{
digitalWrite(B, 1);

}
else
{
digitalWrite(B, 0);
}
}

BLYNK_WRITE(V2) {
bool value3 = param.asInt();
// Check these values and turn the B ON and OFF
if (value3 == 1)
{
digitalWrite(C, 1);
delay(100);
digitalWrite(C, 0);
delay(100);
}
else
{
digitalWrite(C, 0);
}
}

BLYNK_WRITE(V3) {
bool value4 = param.asInt();
// Check these values and turn the B ON and OFF
if (value4 == 1) {
digitalWrite(D, 1);
delay(100);
digitalWrite(D, 0);
delay(100);

9
 }
else
{
digitalWrite(D, 0);
}
}

BLYNK_WRITE(V4) {
bool value5 = param.asInt();
// Check these values and turn the B ON and OFF
if (value5 == 1) {
digitalWrite(E, 1);
}
else
{
digitalWrite(E, 0);
}
}

BLYNK_WRITE(V5) {
bool value6 = param.asInt();
// Check these values and turn the B ON and OFF
if (value6 == 1) {
digitalWrite(F, 1);
}
else
{
digitalWrite(F, 0);
}
}

BLYNK_WRITE(V6) {
bool value7 = param.asInt();
// Check these values and turn the B ON and OFF
if (value7 == 1) {
digitalWrite(G, 1);
}
else
{
digitalWrite(G, 0);
}
}

10
BLYNK_WRITE(V7) {
bool value8 = param.asInt();
// Check these values and turn the B ON and OFF
if (value8 == 1) {
digitalWrite(H, 1);
}
else
{
digitalWrite(H, 0);
}
}

void setup() {
//Set the relay pins as output pins
pinMode(A, OUTPUT);
pinMode(B, OUTPUT);
pinMode(C, OUTPUT);
pinMode(D, OUTPUT);
pinMode(E, OUTPUT);
pinMode(F, OUTPUT);
pinMode(G, OUTPUT);
pinMode(H, OUTPUT);

digitalWrite(A, LOW);
digitalWrite(B, LOW);
digitalWrite(C, LOW);
digitalWrite(D, LOW);
digitalWrite(E, LOW);
digitalWrite(F, LOW);
digitalWrite(G, LOW);
digitalWrite(H, LOW);

Blynk.begin(auth, ssid, pass, "blynk.cloud", 80);

}

void loop() {

Blynk.run();
}

11
 5.SOFTWARE USE IN PROJECT

SOFTWARE USE FOR CIRCUIT DESIGN

1:-PROTEUS

12
SOFTWARE USE FOR PCB LAYOUT DESIGN

1:-CIRCUIT WIZARD

13
SOFTWARE USE FOR PROGRAMING

1:-Arduino Id

14
Android Application Use In Project
1:-BLYNK

15
 6.PRINTED CIRCUIT BOARD DESIGN

A printed circuit board, or PCB, is used to mechanically support and electrically connect

electronic components using conductive pathways, tracks or signal traces etched from copper

sheets laminated onto a non-conductive substrate. It is also referred to as printed wiring

board (PWB) or etched wiring board. A PCB populated with electronic components is a printed

circuit assembly (PCA), also known as a printed circuit board assembly (PCBA). Printed circuit

boards are used in virtually all but the simplest commercially-produced electronic devices. PCBs

are inexpensive, and can be highly reliable. They require much more layout effort and higher

initial cost than either wire wrap or point-to-point construction, but are much cheaper and faster

for high-volume production; the production and soldering of PCBs can be done by totally

automated equipment. Much of the electronics industry's PCB design, assembly, and quality

control needs are set by standards that are published by the IPC organization.

 Chemical etching

Chemical etching is done with ferric chloride, ammonium per sulfate, or sometimes hydrochloric

acid. For PTH (plated-through holes), additional steps of electro less deposition are done after

the holes are drilled, then copper is electroplated to build up the thickness, the boards are

screened, and plated with tin/lead. The tin/lead becomes the resist leaving the bare copper to be

etched away. The simplest method, used for small scale production and often by hobbyists, is

immersion etching, in which the board is submerged in etching solution such as ferric chloride.

Compared with methods used for mass production, the etching time is long. Heat and agitation

can be applied to the bath to speed the etching rate. In bubble etching, air is passed through the

etchant bath to agitate the solution and speed up etching. Splash etching uses a motor-driven

16
paddle to splash boards with etchant; the process has become commercially obsolete since it is

not as fast as spray etching. In spray etching, the etchant solution is distributed over the boards

by nozzles, and recirculated by pumps. Adjustment of the nozzle pattern, flow rate, temperature,

and etchant composition gives predictable control of etching rates and high production rates.

As more copper is consumed from the boards, the etchant becomes saturated and less effective;

different etchants have different capacities for copper, with some as high as 150 grams of copper

per litre of solution. In commercial use, etchants can be regenrated to restore their activity, and

the dissolved copper recovered and sold. Small-scale etching requires attention to disposal of

used etchant, which is corrosive and toxic due to its metal content.

The etchant removes copper on all surfaces exposed by the resist. "Undercut" occurs when

etchant attacks the thin edge of copper under the resist; this can reduce conductor widths and

cause open-circuits. Careful control of etch time is required to prevent undercut. Where metallic

plating is used as a resist, it can "overhang" which can cause short-circuits between adjacent

traces when closely spaced. Overhang can be removed by wire-brushing the board after etching.

 Lamination

Some PCBs have trace layers inside the PCB and are called multi-layer PCBs. These are formed

by bonding together separately etched thin boards.

 Drilling

Holes through a PCB are typically drilled with small-diameter drill bits made of solid

coated tungsten carbide. Coated tungsten carbide is recommended since many board materials

are very abrasive and drilling must be high RPM and high feed to be cost effective. Drill bits

must also remain sharp to not mar or tear the traces. Drilling with high-speed-steel is simply not

17
feasible since the drill bits will dull quickly and thus tear the copper and ruin the boards. The

drilling is performed by automated drilling machines with placement controlled by a drill tape or

drill file. These computer-generated files are also called numerically controlled drill (NCD) files

or "Excellon files". The drill file describes the location and size of each drilled hole. These holes

are often filled with annular rings (hollow rivets) to create vias. Vias allow the electrical and

thermal connection of conductors on opposite sides of the PCB. When very small vias are

required, drilling with mechanical bits is costly because of high rates of wear and breakage. In

this case, the vias may be evaporated by lasers. Laser-drilled vias typically have an inferior

surface finish inside the hole. These holes are called micro vias. It is also possible

with controlled-depth drilling, laser drilling, or by pre-drilling the individual sheets of the PCB

before lamination, to produce holes that connect only some of the copper layers, rather than

passing through the entire board. These holes are called blind vias when they connect an internal

copper layer to an outer layer, or buried vias when they connect two or more internal copper

layers and no outer layers.

The walls of the holes, for boards with 2 or more layers, are made conductive then plated with

copper to form plated-through holes that electrically connect the conducting layers of the PCB.

For multilayer boards, those with 4 layers or more, drilling typically produces a smearof the high

temperature decomposition products of bonding agent in the laminate system. Before the holes

can be plated through, this smear must be removed by a chemical de-smear process, or

by plasma-etch. Removing (etching back) the smear also reveals the interior conductors as well.

18
 7.PARTS USE IN PROJECT

 Electrical resistance

The electrical resistance of an electrical conductor is the opposition to the passage of an electric

current through that conductor. The inverse quantity is electrical conductance, the ease with

which an electric current passes. Electrical resistance shares some conceptual parallels with the

mechanical notion of friction. The SI unit of electrical resistance is the ohm (Ω), while electrical

conductance is measured in Siemens (S).

An object of uniform cross section has a resistance proportional to its resistivity and length and

inversely proportional to its cross-sectional area. All materials show some resistance, except

for superconductors, which have a resistance of zero.

The resistance (R) of an object is defined as the ratio of voltage across it (V) to current through it

(I), while the conductance (G) is the inverse:

For a wide variety of materials and conditions, V and I are directly proportional to each other,

and therefore R and G are constant (although they can depend on other factors like temperature

or strain). This proportionality is called Ohm's law, and materials that satisfy it are called

"Ohmic" materials.

19
In other cases, such as a diode or battery, V and I are not directly proportional, or in other words

the I–V curve is not a straight line through the origin, and Ohm's law does not hold. In this case,

resistance and conductance are less useful concepts, and more difficult to define. The ratio V/I is

sometimes still useful, and is referred to as a "chordal resistance" or "static resistance", [1][2] as it

corresponds to the inverse slope of a chord between the origin and an I–V curve. In other

situations, the derivative may be most useful; this is called the "differential resistance

 Capacitor

20
A capacitor (originally known as a condenser) is a passive two-terminal electrical

component used to store energy electrostatically in an electric field. The forms of practical

capacitors vary widely, but all contain at least two electrical conductors (plates) separated by a

dielectric (i.e., insulator). The conductors can be thin films of metal, aluminum foil or disks, etc.

The 'non conducting' dielectric acts to increase the capacitor's charge capacity. A dielectric can

be glass, ceramic, plastic film, air, paper, mica, etc. Capacitors are widely used as parts

of electrical circuits in many common electrical devices. Unlike a resistor, a capacitor does not

dissipate energy. Instead, a capacitor stores energy in the form of an electrostatic field between

its plates.

When there is a potential difference across the conductors (e.g., when a capacitor is attached

across a battery), an electric field develops across the dielectric, causing positive charge (+Q) to

collect on one plate and negative charge (-Q) to collect on the other plate. If a battery has been

attached to a capacitor for a sufficient amount of time, no current can flow through the capacitor.

However, if an accelerating or alternating voltage is applied across the leads of the capacitor,

a displacement current can flow.

An ideal capacitor is characterized by a single constant value for its capacitance. Capacitance is

expressed as the ratio of the electric charge (Q) on each conductor to the potential difference (V)

between them. The SI unit of capacitance is the farad (F), which is equal to

one coulomb per volt (1 C/V). Typical capacitance values range from about 1 pF (10 −12 F) to

about 1 mF (10−3 F).

The capacitance is greater when there is a narrower separation between conductors and when the

conductors have a larger surface area. In practice, the dielectric between the plates passes a small

21
amount of leakage current and also has an electric field strength limit, known as the breakdown

voltage. The conductors and leads introduce an undesired inductance and resistance.

Capacitors are widely used in electronic circuits for blocking direct current while

allowing alternating current to pass. In analog filter networks, they smooth the output of power

supplies. In resonant circuits they tune radios to particular frequencies. In electric power

transmission systems they stabilize voltage and power flow.

 P–n junction diode

22
A p–n junction is a boundary or interface between two types of semiconductor material, p-type

and n-type, inside a single crystal of semiconductor. It is created by doping, for example by ion

implantation, diffusion of dopants, or by epitaxy (growing a layer of crystal doped with one type

of dopant on top of a layer of crystal doped with another type of dopant). If two separate pieces

of material were used, this would introduce a grain boundary between the semiconductors that

severely inhibits its utility by scattering the electrons and holes. p–n junctions are elementary

"building blocks" of most semiconductor electronic devices such as diodes, transistors, solar

cells, LEDs, and integrated circuits; they are the active sites where the electronic action of the

device takes place. For example, a common type of transistor, the bipolar junction transistor,

consists of two p–n junctions in series, in the form n–p–n or p–n–p.

Properties of a p–n junction

The p–n junction possesses some interesting properties that have useful applications in modern

electronics. A p-doped semiconductor is relatively conductive. The same is true of an n-doped

semiconductor, but the junction between them can become depleted of charge carriers, and hence

non-conductive, depending on the relative voltages of the two semiconductor regions. By

manipulating this non-conductive layer, p–n junctions are commonly used as diodes: circuit

elements that allow a flow of electricity in one direction but not in the other (opposite) direction.

This property is explained in terms of forward bias and reverse bias, where the term bias refers to

an application of electric voltage to the p–n junction. PN junction operation in forward-bias

mode, showing reducing depletion width. Both p and n junctions are doped at a 1e15/cm3 doping

level, leading to built-in potential of ~0.59 V. Reducing depletion width can be inferred from the

shrinking charge profile, as fewer dopants are exposed with increasing forward bias.With a

23
battery connected this way, the holes in the P-type region and the electrons in the N-type

region are pushed toward the junction. This reduces the width of the depletion zone. The positive

potential applied to the P-type material repels the holes, while the negative potential applied to

the N-type material repels the electrons. As electrons and holes are pushed toward the junction,

the distance between them decreases. This lowers the barrier in potential. With increasing

forward-bias voltage, the depletion zone eventually becomes thin enough that the zone's electric

field cannot counteract charge carrier motion across the p–n junction, as a consequence reducing

electrical resistance. The electrons that cross the p–n junction into the P-type material (or holes

that cross into the N-type material) will diffuse in the near-neutral region. Therefore, the amount

of minority diffusion in the near-neutral zones determines the amount of current that may flow

through the diode.Only majority carriers (electrons in N-type material or holes in P-type) can

flow through a semiconductor for a macroscopic length. With this in mind, consider the flow of

electrons across the junction. The forward bias causes a force on the electrons pushing them from

the N side toward the P side. With forward bias, the depletion region is narrow enough that

electrons can cross the junction and inject into the P-type material. However, they do not

continue to flow through the P-type material indefinitely, because it is energetically favorable for

them to recombine with holes. The average length an electron travels through the P-type material

before recombining is called the diffusion length, and it is typically on the order of

micrometers.Although the electrons penetrate only a short distance into the P-type material, the

electric current continues uninterrupted, because holes (the majority carriers) begin to flow in the

opposite direction. The total current (the sum of the electron and hole currents) is constant in

space, because any variation would cause charge buildup over time (this is Kirchhoff's current

law). The flow of holes from the P-type region into the N-type region is exactly analogous to the

24
flow of electrons from N to P (electrons and holes swap roles and the signs of all currents and

voltages are reversed).Therefore, the macroscopic picture of the current flow through the diode

involves electrons flowing through the N-type region toward the junction, holes flowing through

the P-type region in the opposite direction toward the junction, and the two species of carriers

constantly recombining in the vicinity of the junction. The electrons and holes travel in opposite

directions, but they also have opposite charges, so the overall current is in the same direction on

both sides of the diode, as required.The Shockley diode equation models the forward-bias

operational characteristics of a p–n junction outside the avalanche (reverse-biased conducting)

region.

Reverse bias mode

A silicon p–n junction in reverse bias.

Connecting the P-type region to the negative terminal of the battery and theN-type region to

the positive terminal corresponds to reverse bias. If a

diode is reverse-biased, the voltage at the cathode is higher than that at the anode. Therefore, no

current will flow until the diode breaks down. Reverse-bias usually refers to how a diode is used

in a circuit. The connections are illustrated in the diagram to the right.

25
 Because the p-type material is now connected to the negative terminal of the power supply, the

'holes' in the P-type material are pulled away from the junction, causing the width of the

depletion zone to increase. Likewise, because the N-type region is connected to the positive

terminal, the electrons will also be pulled away from the junction. Therefore, the depletion

region widens, and does so increasingly with increasing reverse-bias voltage. This increases the

voltage barrier causing a high resistance to the flow of charge carriers, thus allowing minimal

electric current to cross the p–n junction. The increase in resistance of the p–n junction results in

the junction behaving as an insulator. The strength of the depletion zone electric field increases

as the reverse-bias voltage increases. Once the electric field intensity increases beyond a critical

level, the p–n junction depletion zone breaks down and current begins to flow, usually by either

the Zener or the avalanche breakdown processes. Both of these breakdown processes are non-

destructive and are reversible, as long as the amount of current flowing does not reach levels that

cause the semiconductor material to overheat and cause thermal damage. This effect is used to

one's advantage in Zener diode regulator circuits. Zener diodes have a certain – low – breakdown

voltage. A standard value for breakdown voltage is for instance 5.6 V. This means that the

voltage at the cathode can never be more than 5.6 V higher than the voltage at the anode, because

the diode will break down – and therefore conduct – if the voltage gets any higher. This in effect

regulates the voltage over the diode. Another application of reverse biasing is Varicap diodes,

where the width of the depletion zone (controlled with the reverse bias voltage) changes the

capacitance of the diode.

 Voltage regulator ic

A voltage regulator is designed to automatically maintain a constant voltage level. A voltage

regulator may be a simple "feed-forward" design or may include negative feedback control

26
loops. It may use an electromechanical mechanism, or electronic components. Depending on the

design, it may be used to regulate one or more AC or DC voltages. Electronic voltage regulators

are found in devices such as computer power supplies where they stabilize the DC voltages used

by the processor and other elements. In automobile alternators and central power

station generator plants, voltage regulators control the output of the plant. In an electric power

distribution system, voltage regulators may be installed at a substation or along distribution lines

so that all customers receive steady voltage independent of how much power is drawn from the

line.

The 78xx (sometimes L78xx, LM78xx, MC78xx...) is a family of self-contained fixed linear

voltage regulator integrated circuits. The 78xx family is commonly used in electronic circuits

requiring a regulated power supply due to their ease-of-use and low cost. For ICs within the

family, the xx is replaced with two digits, indicating the output voltage (for example, the 7805

has a 5 volt output, while the 7812 produces 12 volts). The 78xx line are positive voltage

regulators: they produce a voltage that is positive relative to a common ground. There is a related

line of 79xx devices which are complementary negative voltage regulators. 78xx and 79xx ICs

can be used in combination to provide positive and negative supply voltages in the same circuit.

78xx ICs have three terminals and are commonly found in the TO220 form factor, although

27
smaller surface-mount and larger TO3 packages are available. These devices support an input

voltage anywhere from a couple of volts over the intended output voltage, up to a maximum of

35 to 40 volts depending on the make, and typically provide 1 or 1.5 amperes of current (though

smaller or larger packages may have a lower or higher current rating).

Part Number Output Voltage (V) Minimum Input Voltage (V)

7805 +5 7.3

7806 +6 8.3

7808 +8 10.5

7810 +10 12.5

7812 +12 14.6

7815 +15 17.7

7818 +18 21.0

7824 +24 27.1

28
 Light-emitting diode

A light-emitting diode (LED) is a two-lead semiconductor light source that resembles a basic pn-

junction diode, except that an LED also emits light. When an LED's anode lead has a voltage that

is more positive than its cathode lead by at least the LED's forward voltage drop, current

flows. Electrons are able to recombine with holes within the device, releasing energy in the form

of photons. This effect is called electroluminescence, and the color of the light (corresponding to

the energy of the photon) is determined by the energy band gap of the semiconductor. An LED is

often small in area (less than 1 mm2), and integrated optical components may be used to shape

its radiation pattern. Appearing as practical electronic components in 1962, the earliest LEDs

emitted low-intensity infrared light. Infrared LEDs are still frequently used as transmitting

elements in remote-control circuits, such as those in remote controls for a wide variety of

consumer electronics. The first visible-light LEDs were also of low intensity, and limited to red.

Modern LEDs are available across the visible, ultraviolet, and infrared wavelengths, with very

high brightness. Early LEDs were often used as indicator lamps for electronic devices, replacing

small incandescent bulbs. They were soon packaged into numeric readouts in the form of seven-

segment displays, and were commonly seen in digital clocks. Recent developments in LEDs

permit them to be used in environmental and task lighting. LEDs have many advantages over

incandescent light sources including lower energy consumption, longer lifetime, improved

29
physical robustness, smaller size, and faster switching. Light-emitting diodes are now used in

applications as diverse as aviation lighting, automotive headlamps, advertising, general

lighting,traffic signals, and camera flashes. However, LEDs powerful enough for room lighting

are still relatively expensive, and require more precise current and heat management than

compact fluorescent lamp sources of comparable output.

LEDs have allowed new text, video displays, and sensors to be developed, while their high

switching rates are also useful in advanced communications technology.

Technology

The inner workings of an LED, showing circuit (top) and band diagram (bottom)

30
 Crystal Oscillators and Applications

A mechanical or electronic device that works on the principles of oscillation is an

oscillator. In other words, oscillator can be defined as the periodic fluctuations
between two things based on changes in energy. The practical applications of
oscillators include Computers, clocks, watches, radios etc. An example for simple
type of mechanical oscillator is a clock pendulum. According to the oscillation
within atoms, the atomic clock keeps time. In order to generate signals in
computers, wireless receivers and transmitters and audio-frequency equipments,
electronic oscillators are mainly used. Particularly it is used in music synthesizers.
Different types of electronic oscillators are available. All the electronic oscillators
operate according to the same basic principle. An oscillator always employs a
sensitive amplifier, whose output signal is fed back to the input signal in phase.
Hence, the signal itself regenerates and sustains. This is called as a positive

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feedback. Thus the oscillator uses a positive feedback for working. This is almost
same to the unwanted "howling" in public-address systems.
A quartz crystal determines the frequency at which an oscillator works. When a
direct current is applied, these crystals vibrate at a frequency that depends on its
thickness value and on the manner in which it is cut from the original mineral rock.
To determine the frequency, some oscillators employ combinations of inductors,
resistors, and capacitors. But, the use of quartz crystals gives the best stability
(constancy of frequency) in oscillators.

In a computer the clock serves as a sort of pacemaker for the microprocessor. The
clock is nothing but a specialized oscillator. The clock frequency (also called as
clock speed) is usually specified in megahertz (MHz) frequency. The clock
frequency is an important factor in determining the rate at which a computer can
perform the execution of instructions.

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 Figure 1 shows the equivalent electronic circuit diagram of a crystal. The
equivalent diagram of a crystal consists of a resistor, an inductor and two
capacitors. The two capacitors are named as Cs and Cp

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 NodeMCU ESP8266

The NodeMCU ESP8266 development board comes with the ESP-12E module containing
ESP8266 chip having Tensilica Xtensa 32-bit LX106 RISC microprocessor. This microprocessor
supports RTOS and operates at 80MHz to 160 MHz adjustable clock frequency. NodeMCU has
128 KB RAM and 4MB of Flash memory to store data and programs. Its high processing power
with in-built Wi-Fi / Bluetooth and Deep Sleep Operating features make it ideal for IoT projects.
NodeMCU can be powered using Micro USB jack and VIN pin (External Supply Pin). It
supports UART, SPI, and I2C interface.

Applications of NodeMCU

 Prototyping of IoT devices

 Low power battery operated applications
 Network projects
 Projects requiring multiple I/O interfaces with Wi-Fi and Bluetooth functionalities

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 DC motor:-

A DC motor is any of a class of electrical machines that converts direct current electrical power
into mechanical power. The most common types rely on the forces produced by magnetic fields.
Nearly all types of DC motors have some internal mechanism, either electromechanical or
electronic, to periodically change the direction of current flow in part of the motor. Most types
produce rotary motion; a linear motor directly produces force and motion in a straight line.

DC motors were the first type widely used, since they could be powered from existing direct-
current lighting power distribution systems. A DC motor's speed can be controlled over a wide
range, using either a variable supply voltage or by changing the strength of current in its field
windings. Small DC motors are used in tools, toys, and appliances. The universal motor can
operate on direct current but is a lightweight motor used for portable power tools and appliances.
Larger DC motors are used in propulsion of electric vehicles, elevator and hoists, or in drives for
steel rolling mills. The advent of power electronics has made replacement of DC motors with AC
motors possible in many applications.

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A coil of wire with a current running through it generates an electromagnetic field aligned with
the center of the coil. The direction and magnitude of the magnetic field produced by the coil can
be changed with the direction and magnitude of the current flowing through it.A simple DC
motor has a stationary set of magnets in the stator and an armature with one or more windings of
insulated wire wrapped around a soft iron core that concentrates the magnetic field. The
windings usually have multiple turns around the core, and in large motors there can be several
parallel current paths. The ends of the wire winding are connected to a commutator. The
commutator allows each armature coil to be energized in turn and connects the rotating coils
with the external power supply through brushes. (Brushless DC motors have electronics that
switch the DC current to each coil on and off and have no brushes.)

The total amount of current sent to the coil, the coil's size and what it's wrapped around dictate
the strength of the electromagnetic field created.The sequence of turning a particular coil on or
off dictates what direction the effective electromagnetic fields are pointed. By turning on and off
coils in sequence a rotating magnetic field can be created. These rotating magnetic fields interact
with the magnetic fields of the magnets (permanent or electromagnets) in the stationary part of
the motor (stator) to create a force on the armature which causes it to rotate. In some DC motor
designs the stator fields use electromagnets to create their magnetic fields which allow greater
control over the motor.

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 Battery

An electric battery is a device consisting of one or more electrochemical cells with external
connections provided to power electrical devices. A discharging battery has a positive terminal,
or cathode, and a negative terminal, or anode. The terminal marked negative is the source of
electrons that when connected to an external circuit will flow and deliver energy to an external
device. When a battery is connected to an external circuit, electrolytes are able to move as ions
within, allowing the chemical reactions to be completed at the separate terminals and so deliver
energy to the external circuit. It is the movement of those ions within the battery which allows
current to flow out of the battery to perform work.[3] Historically the term "battery" specifically
referred to a device composed of multiple cells, however the usage has evolved to additionally
include devices composed of a single cell. Primary (single-use or "disposable") batteries are used
once and discarded; the electrode materials are irreversibly changed during discharge. Common
examples are the alkaline battery used for flashlights and a multitude of portable devices.
Secondary (rechargeable batteries) can be discharged and recharged multiple times; the original

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composition of the electrodes can be restored by reverse current. Examples include the lead-acid
batteries used in vehicles and lithium-ion batteries used for portable electronics. Batteries come
in many shapes and sizes, from miniature cells used to power hearing aids and wristwatches to
battery banks the size of rooms that provide standby power for telephone exchanges and
computer data centers.According to a 2005 estimate, the worldwide battery industry generates
US$48 billion in sales each year,[5] with 6% annual growth. Batteries have much lower specific
energy (energy per unit mass) than common fuels such as gasoline. This is somewhat offset by
the higher efficiency of electric motors in producing mechanical work, compared to combustion
engines.

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 8:-FUTURE SCOPE
Wifi will be a key access technology for Internet of Things enablement due to cost coverage and

bandwidth, challenges with mobile cellular which can be compromised through wifi.

9:-RESULT/CONCULUSION

Although research on robotic arm has been conducted in the past, the lack of technology applied

has given the chance to conduct this research by implementing IoT for the robotic arm. Android

mobile device is utilized as the platform to remotely controlled this robotic arm to perform the

pick and place operations. Arduino Yun is used as the brain of the system, which will process the

control signal and output modulation signal to the servo motor. Future research needs to examine

the effects of other types of sensor and actuator. Radio control servo motor with greater angle of

rotation can be used to improve the reachability of the robotic arm. Moreover, more advance

motor such as stepper motor can be used to offer more accurate and precise movement. This

future research could help in the review of available robotic arm in the industries and make

recommendations for future editions. Finally, future research and development in this research is

greatly

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 REFERENCE
1. Al- Sahib Nabeel.K& Azeez.Z Mohammed created “Internet Remote Control Interface for a
Multi-Purpose Mobile Robot”.
2. Andreasson.J, Gavert.M created “The Vehicle Dynamics Library Overview and Applications
Modelon”.
3. Cuno Pfister created “Getting started with Internet of Things”.
4. Joy deep Biswas created “Wifi Localization and Navigation for Autonomous Indoor Mobile
Robots”.
5. Sudha Jamthe created”IoT Disruptions: The Internet of Things - Innovations & Jobs “
6. Tom nguyen ,josh slonaker created “Semi Autonomous wireless control robot”.
7. M.S.Sreejith, Steffy Joy created “Conceptual design of a wifi and gps based robotic library
using an intelligent system.
8. C.W.Warren , S.G.Buckley created “Mobile robotic over wifi network using arduino
technology”.
9. Harshit Gulati, Shriyannsh Vaishya created “Bluetooth and wifi control rescue robot”.

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