PROJECT REPORT

ON

ROBOTIC ARM
Prepared By :

HIMANSHU GUPTA - 101706073 - ECE

Thapar University, Patiala, Punjab

 CERTIFICATE

This is to certify the project report titled -“ROBOTIC

ARM” embodies the original work carried out by
Himanshu Gupta under my supervision for the
award of the degree of bachelor of engineering
from Thapar University, Patiala , Punjab .

IETE TEAM

11 February,2018
IETE Students forum
Thapar university
Patiala
Punjab
ACKNOWLEDGEMENT
We are highly indebted to our seniors cum mentors
at IETE Students Forum for their guidance and
constant supervision as well as for providing
necessary information regarding the project and for
their support in completing the project.
With sincere thanks,
Himanshu Gupta

TABLE OF CONTENTS
1. Certificate
2. Acknowledgement
3. Table of Contents
4. Abstract
5. Summary
6. Introduction
7. Problem description and proposed solution
8. Working of system and demonstration
9. Feasibility
10.Future prospects and current applications
 ABSTRACT
In today’s world there is an increasing need to create
artificial arms for different inhuman situations where
human interaction is difficult or impossible. They may
involve taking readings from an active volcano to
diffusing a bomb. Here we propose to build a robotic arm
controlled by natural human arm movements whose
data is acquired through the use of accelerometers or
without it through manual control. The development of
this arm is based on ATmega32 and ATmega640 platform
through Arduino UNO or MEGA along with a personal
computer for signal processing, which will all be
interfaced with each other using serial communication.
Finally, this prototype of the arm may be expected to
overcome the problem such as placing or picking
hazardous objects or non-hazardous objects that are far
away from the user and also is used where displacement
of very heavy objects is needed from one place to
another or automation required in many industries.

SUMMARY
The main focus of this work was to design, and programme robotic arm the robot

arm was designed with five degrees of freedom and talented to accomplish

accurately simple tasks, such as light material handling the robot arm is equipped

with several servo 40 motors which do links between arms and perform arm

movements. A microcontroller that drives the servo motors with the capability of

modifying position The programming is done on ATMEGA-328p Microcontroller

using Arduino programming. The potentiometers are also used to detect the

angle of rotation and the signals are then sent to the microcontroller. And you can

control the robotic arm also using android device, in today’s world, this Robotic

arm has turned out very benevolent. Besides Robotics and Automation, these

kinds of arms have applications in other fields also

Introduction
1.1 Introduction

Nowadays, robots are increasingly being integrated into working tasks to replace

humans especially to perform the repetitive task. In general, robotics can be

divided into two areas, industrial and service robotics. These robots are currently

used in many fields of applications including office, military tasks, hospital

operations, dangerous environment and agriculture. Besides, it might be difficult

or dangerous for humans to do some specific tasks like picking up explosive

chemicals, defusing bombs or in worst case scenario to pick and place the bomb

somewhere for containment and for repeated pick and place action in industries.

Therefore, a robot can be replaced human to do work.

1.2 Robotic arm definition

A robotic arm is a robot manipulator and a mechanical arm, 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 and can be used to

perform a variety of tasks with great accuracy. The robotic arm can be fixed or

mobile (i.e. wheeled) and can be designed for industrial or home applications .

Problem description
and Proposed solution
It is true that human arms can do many works at a time but it always involves risk

of injury during work involving lifting of heavy items and picking of radioactive

substances. Moreover, medical industry need an arm for people who lost it in

accidents. Also , it is seen that efficiency of a person decreases as his age advances

due to which one involved in rough work becomes unproductive and inefficient .

In manufacturing industry and nuclear industry, a large fraction of the work is

repetitive and judicious application of automation will most certainly result in

optimum utilization of machine and manpower. A pneumatic `Pick and Place'

Robot has been developed to achieve automation in applications where great

sophistication is not needed and simple tasks like picking up of small parts at one

location and placing them at another location can be done with great ease.
This robot is a mechanical arm, a manipulator designed to perform many different

tasks and capable of repeated, variable programming.

To perform its assigned tasks, the robot moves parts, objects, tools, and special

devices by means of programmed motions and points. The robotic arm performs

motions in space. Its function is to transfer objects or tools from point to point, as

instructed by the controller.

Robotic arm is an asset for those people who are involved in nuclear industry as by

robotic arms, picking of the radio substances can be done by the instructions given

by them and they don’t have to physical go at the site and pick these harmful

substances. Also in manufacturing industry risk of injury is prevented as now these

robotic arms are involved in doing repetitive work and people of all age can

control it without any loss in efficiency.

 Working of system and demonstration
A manually controlled robotic arm will have to include the elements listed below
in order to perform its function:
1. Servo motors
2. joy sticks
3. Arduino UNO
4. Bluetooth module.
5. Connecting wires
6.mearm kit (hardware)

1.Servo motors-Servo refers to an error sensing feedback control which is used to

correct the performance of a system. Servo or RC Servo Motors are DC motors equipped
with a servo mechanism for precise control of angular position. The RC servo motors
usually have a rotation limit from 90° to 180°. But servos do not rotate continually. Their
rotation is restricted in between the fixed angles. The Servos are used for precision
positioning. They are used in robotic arms and legs, sensor scanners and in RC toys like RC
helicopter, airplanes and cars. The specifications for big Servomotor used are as follows:

 Weight- 55g

 Dimension- 40.7*19.7*42.9mm

 Stall torque- 10kg/cm

 Operating speed-0.20sec/60degree(4.8v)

 Operating voltage 4.8-7.2V.

 Temperature range 0-55 degrees.

The specifications for small Servomotor G9 used are as follows:

 Weight: 9 g

 Dimension: 22.2 x 11.8 x 31 mm approx.

 Stall torque: 1.8 kgf·cm

• Operating speed: 0.1 s/60 degree
  Operating voltage: 4.8 V (~5V)

 Dead band width: 10 µs

 Temperature range: 0 ºC – 55 ºC

2. Joy sticks-The joystick in the picture is nothing but two

potentiometers that allow us to measure the movement of the stick in 2-D.
Potentiometers are variable resistors and, in a way, they act as sensors
providing us with a variable voltage depending on the rotation of the device
around its shaft.

3.Arduino UNO-Arduino Uno is a microcontroller board based on the

ATmega328P . It has 14 digital input/output pins (of which 6 can be used as PWM
outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack and a
reset button. It contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with a AC-to-DC adapter or battery
to get started.. You can tinker with your UNO without worrying too much about doing
something wrong, worst case scenario you can replace the chip for a few dollars and start
over again

4.Mearm kit-The MeArm is a Pocket Sized Robot Arm. It's a project

started in February 2014, which has had a fantastically fast journey to
its present state thanks to it Open Development as an Open Hardware
projectThe parts we use here are:

 Base - largest part you'll have

 Collar - one of the four supplied

 Square servo mount - fits directly into the hole on the base

 4 x 20mm Screws

 4 x Nuts

 2 x 8mm Screws

 4 x Sticky Feet

 1 x Servo

If you have one of ours with a slick etch on it, you'll want that upper
most. That is the top. Otherwise either way is fine. Stick one of the
four sticky feet in each of the corners of the base. Then start inserting
the 20mm screws into the holes around the large square hole.

Now twist the nuts onto the 20mm screws from the top side until
you're about half way down.

5.Blootooth module HC-05-HC‐05 module is an easy to use Bluetooth SPP

(Serial Port Protocol) module, designed for transparent wireless serial connection

setup .The HC-05 Bluetooth Module can be used in a Master or Slave configuration, making

it a great solution for wireless communication .This serial port bluetooth module is fully

qualified Bluetooth V2.0+EDR (Enhanced Data Rate)3Mbps Modulation with complete

2.4GHz radio transceiver and baseband. It uses CSR Bluecore 04‐External single chip

bluetooth system with CMOS technology and with AFH.

Mechanical design-Mechanical Structure of the Arm:

In constructing our arm, we made use of five servo motors and a dc motors and gears since our

structure is a three dimensional structure. A typical prototype that we employed is as shown in

Figure. There is a servo motor at the base, which allows for circular movement of the whole

Structure; another at the shoulder which allows for upward and downward movement of the

Arm; while at last dc motor at the wrist allows for the picking of objects by the magnetic hand

Degrees of Freedom (DOF)- A degree of freedom is a joint on the arm, a place where it can bend

or rotate or translate. We can typically identify the number of degrees of freedom by the number of

actuators on the robot arm (in case of serial arms). The gripper is often complex with multiple DOF or

can be a toll for welding etc., so for simplicity it is treated as separate subsystem in basic robot arm

design. Robot Workspace (Work Volume) The robot workspace (sometimes known as reachable space)

is a collection of points that the end effector (gripper) can reach. The workspace is dependent on the

DOF angle/translation limitations, the arm link lengths, the angle at which something must be picked up

at, etc. The workspace is highly dependent on the robot configuration. It should be noted that it does

not include the DOF which controls the wrist orientation as the workspace is independent of orientation
variable. The shoulder and elbow joints rotate a maximum of 180 degrees. Now rotating that by the

base joints another 180 degrees to get 3D work volume. This creates a workspace of a shelled quarter

sphere as shown below. If you change the link lengths you can get very different sizes of workspaces,

but this would be the general shape. Any location outside of this space is a location the arm can’t reach.

If there are objects in the way of the arm, the workspace can get even more complicated. Here are a few

more robot workspace examples: Cartesian Gantry Robot Arm Cylindrical Robot Arm Spherical Robot

Arm The workspace for our serial arm can be mathematically described in polar coordinates as: , where

L1 and L2 represent the lengths of link 1 and link 2 respectively and r denotes the polar distance

Similarly, L1 = 9.2cm L2 = 11.5cm

Approximate budget:

Componen Quantity Price Total

t Price

1. Servo 5

motors

2. joy 2
sticks

1 300
3. Bluetooth

module(HC-05)
 2285
4.mearm kit 1

Total 2585
cost

Future Scope of the robotic arm

 The machine will be of great use to perform repetitive tasks of picking
and placing of small parts (up to 500 gms) in
an industrial production line.

 Its use can be extended and exploited by few modifications to do

difficult and hazardous tasks for industrial applications.

 It can be used to do small assembly work effectively due to its great

added accuracy for placement of parts, which is further extended scope
of our project.