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Arduino Project

This document discusses the design and implementation of a robotic arm with four degrees of freedom (4DOF) controlled via Bluetooth technology using an Arduino Nano microcontroller and HC-05 Bluetooth module. It highlights the advantages of linear supports in reducing vibrations in rotating machinery and presents a model for the robotic arm's operation, including components and configuration. The findings indicate that the robotic arm can perform tasks effectively despite its limited joints, with potential improvements to address jitter issues.

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SAROJ KUMAR PANDIT
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15 views11 pages

Arduino Project

This document discusses the design and implementation of a robotic arm with four degrees of freedom (4DOF) controlled via Bluetooth technology using an Arduino Nano microcontroller and HC-05 Bluetooth module. It highlights the advantages of linear supports in reducing vibrations in rotating machinery and presents a model for the robotic arm's operation, including components and configuration. The findings indicate that the robotic arm can perform tasks effectively despite its limited joints, with potential improvements to address jitter issues.

Uploaded by

SAROJ KUMAR PANDIT
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Abstract

In rotating machineries vibration causes many problems such as fatigue of the


rotating components, excessive wear and noise or transmission of vibration to
the supporting structure. The predominant source of this vibration is
unbalanced forces, which is known as out-of-balance forces also and this thesis
proposes that the response of the rotor is reduced by mounting the machine
on linear springs. In the field of vibration isolation linear mounts have been
proposed. They have the static stiffness as a linear support and at the same
time offer a dynamic stiffness as well. So, they have good load bearing
capability and have a natural frequency of vibration. Thus, the isolator is
effective over an increased frequency range and an attempt is made to reduce
considerably the value of the critical speed far away from the operating speed
by suspending the rotor on linear springs.
In this paper the advantages of linear
supports are explained using a simple two degree of freedom rotating machine
model consisting of a rigid disk and a shaft, bearings and supports that are
flexible but have negligible mass. To highlight the benefits of a low dynamic
stiffness, a linear analysis is followed and an approximate solution of the
nonlinear equation of motion is presented. The effectiveness of the linear
supports is shown by presenting the linear responses against a continuous
exciting frequency range. Last but not the least, the proposal is validated using
two terms harmonic balance method.

Key Words: Robotic arm 4 DOF, Robot wireless Bluetooth control, Bluetooth
Module HC-05

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INTRODUCTION

The development of robotics technology basically aims to assist humans in


performing a particular job, and it is a very fast evolving research field today.
Some specific kinds of robots that can ease human task are arm robot
(manipulator robot). Arm robots are designed to hold, lift, and move objects.
Robotic Arm are mainly used due to their ability of higher precisions and
accuracy which can result in constancy in greater production quality and less
production time. The Robotic Arm can be controlled wirelessly using the
Bluetooth Technology, it is interfaced to the microcontroller using a Bluetooth
module known as HC05. An app is developed for the android platform, which
communicates serially from the android smartphone to the HC-05 module,
which then is processed and executed using microcontroller and the
corresponding servos

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The required components are given below.
 Robot arm kit
 Arduino Nano board
 Servo motor
 HC-05 Bluetooth module
 PWM servo motor driver
 Breadboard
 Jumper wires

Robot arm: -
A robotic arm is a robot manipulator, usually programmable, with similar
functions to a human arm. The links of such a manipulator are connected by
joints allowing either rotational motion (such as in an articulated robot) or
translational (linear)
displacement. The links
of the manipulator can
be considered to form a
kinematic chain. The
business end of the
kinematic chain of the
manipulator is called the
end effectors and it is
analogous to the human
hand. The end effectors
can be designed to perform any desired task such as welding, gripping,
spinning etc., depending on the application. The robot arms can be
autonomous or controlled manually

3
Robotic Arm Kit: -

Arduino Nano board: -


The Arduino Nano is a popular alternative to the Arduino UNO, sharing
many features with its larger counterpart. Both are based on the
ATmega328P microcontroller, but Nano's smaller size sets it apart. The Nano
lacks a DC power jack and features a mini-B USB connector instead of UNO's
standard one. However, it retains similar functionality. Its breadboard-
friendly design makes it easy to use in DIY projects. Arduino Nano is an
excellent, cost-effective option compared to the UNO. It's smaller, more
affordable, and offers additional pins for digital and analogy IO while
remaining breadboard friendly.
The key features are −

1. Arduino boards are able to read analogy or digital input signals from
different sensors and turn it into an output such as activating a
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motor, turning LED on/off, connect to the cloud and many other
actions.
2. You can control your board functions by sending a set of instructions
to the microcontroller on the board via Arduino IDE (referred to as
uploading software).
3. Unlike most previous programmable circuit boards, Arduino does not
need an extra piece of hardware (called a programmer) in order to
load a new code onto the board. You can simply use a USB cable.
4. Additionally, the Arduino IDE uses a simplified version of C++, making
it easier to learn to program.
5. Finally, Arduino provides a standard form factor that breaks the
functions of the

Servo motor: -
Servo motor is a DC motor with a closed feedback system in which the position
of its rotor will be communicated back
to the control circuit in the servo
motor. This motor consists of a DC
motor, a set of gear, potentiometer,
and the control circuit. Potentiometer
serves to define the limits of the angle
of rotation servo. While the angle of

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the axis servo motors regulated by pulse width signal sent through the legs of
servo motor cable.

HC-05 Bluetooth module: -


HC-05 is a Bluetooth module which is
designed for wireless communication.
This module can be used in a master
or slave configuration. Bluetooth
serial modules allow all serial enabled
devices to communicate with each
other using Bluetooth. It works on
the frequency of 2.4GHz ISM Band. It
operates on 3.6V to 6V and its range
is approximately 10 meters.

PWM servo motor driver: -


connect the servo motors to the PWM
servo motor driver and install it side of
the robotic arm.

Breadboard: -
This is a cute, half-size
breadboard with 400 tie points,
good for small projects. It's 3.25"
x 2.2" / 8.3cm x 5.5cm with a
standard double-strip in the
middle and two power rails on
both sides. You can pull the
power rails off easily to make the

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breadboard as thin as 1.4" (3.5cm) For those new to electronics and
circuits, breadboards are often the best place to start. use this small
(half-size) breadboard in all your projects to add additional circuitry
to your Arduino. The breadboard has two power rails on each side
for both power and ground connections. The break in the middle
makes it easy to mount integrated circuits to the breadboard.

Jumper wires: -

To connect an Arduino Nano, a


Bluetooth module, and a
breadboard using jumper
wires, you would typically use
male-to-female jumper wires
to connect the power lines (5V
and GND) from the Arduino to
the corresponding power rails
on the breadboard, then connect the Bluetooth module's power pins (VCC to
Arduino 5V, GND to Arduino GND) and finally, use additional jumper wires to
link the Bluetooth module's TX pin to an Arduino digital pin designated for
receiving data (like pin 2 or 3) and the Bluetooth module's RX pin to an Arduino
digital pin for sending data (like pin 2 or 3 depending on the chosen receiving
pin) - ensuring proper TX/RX pairing between the Arduino and Bluetooth
module.

Robotic arm Configuration:


In our work the robotic arm we
deigned is visualized in the picture
above. In this configuration we have 4
Degrees of Freedom, named Base,
Shoulder, Elbow and Gripper. Each
joint is rotated or given an angular
adjustment using servo motor, Servo
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Motors are electromechanical devices which converts the electrical energy into
angular mechanical energy.

Design Methods
A. Material and tools: Materials used in the design of hardware, among
others:
1)Arduino nano Microcontroller as a data processor.
2)Wireless communications module HC-05 as sender and recipient of the data
instructions.
3)Motor servo actuator 180 degrees as robot arms.
4)Barrel Jack adapter for external power supply for Arduino and peripherals.
5)Android Supported Smartphone to transmit data for control of arm.
6) Servo motors to the PWM servo motor driver
7)The components of electronics, cables, PCB (Printing Circuit Board), lead and
connectors.

Diagram: -
place the Arduino Nano board and Bluetooth module on the breadboard. And
then, connect these components to the Arduino Nano board.

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RESULTS AND DISCUSSION
Table 1: The Robot Specifications

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A. Design realization: Robotic arm of 4 Degrees of freedom, despite of its
limited joints of axes it can still carry out multiple tasks carried out in three
dimensions, such as pick and place, pull, and push test subjects which weigh up
to approximately 150gms
B. Testing Microcontroller: To test the microcontroller and the sensor shield, a
single servo motor is connected, and sample sketches or programs were run in
order to confirm the functionality of the hardware beforehand. Checked
uploading the test codes from Arduino IDE to the microcontroller

. Software:
The supporting software’s used in our work are:
The Arduino IDE is used to create the program in the microcontroller.

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CONCLUSIONS
1)The Four Degree of Freedom (4DOF) has enabled the robotic arm to perform
the designed movements very well. Furthermore, the mobile robot successfully
follows the command from each input variable slider from the app to move the
robotic arm.
2)Even though the robotic arm has only 4DOF it can still perform crucial tasks
accurately and precisely if the jitter problem is solved.

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