DILLA UNIVERSITY

COLLEGE OF ENGINEERING AND

TECHNOLOGY
SCHOOL OF ELECTRICAL AND COMPUTER
ENGINEERING
Project tittle- Designing and implementation of robotic arm
Stream COMPUTER
TEAM MEMBERES:-
Name ID No
AHMED ASSEN 0126/14

HUSSIEN AMARE 0849/14

 JUHAR WASSIE 0861/14

Abstract
This proposed work is an overview of how we can make use of servo motor to make joints of a
robotic arm and control it using potentiometer. Arduino UNO board is programmed to control
the servo motors and arduino's analog input is given to potentiometer. This modelling resembles
like a robotic crane or we can convert it into robotic crane using some tweaks.
Robotic arm is one of the major projects in today automation industries. Robotic arm is part of
the mechatronic industry today’s fast growing industry. This project is apick and place robotic
arm. On large scale it can be used as in environment, which is either hazardous (e.g. radiation) or
not accessible. As the size of the robots scale down, the physics that governs
the mode of operation, power delivery, and control change dramatically, restricting how these
devices operate This also include it's characteristics like its extension, positioning, orientation,
tools and object it can carry. This paper is on how we can make robotic arm with non useful
materials and its application for small purposes. This paper also says about its advantages,
disadvantages, methodology. I conclude this paper by future enhancement.
 1. INTRODUCTION

The term robot comes from the Czech word robot a, generally translated as "forced labour", this
describes the majority of robots fairly well. Most robots in the world are designed for heavy,
difficult to manufacture in work. They handle tasks that are difficulty, dangerous or boring to
human beings. The most common robot is the robotic arm. This robotic arm is type of
mechanical model arm, it is usually programmed, like of a human arm may be the sum total of
the mechanism or may be part of a more complex robot. The links of such a manipulator are
connected by joints allowing either rotational motion (such as in an articulated robot) or linear
displacement [1].

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 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. A robot is a reprogrammable multifunctional manipulator
designed to move material, parts, tools, or specialized devices through variable programmed
motions for the performance of a variety of tasks. Robot institute of America(RIA)

An industrial arm with six joints similar to a human arm it has equivalent of a shoulder, an elbow
and a wrist. Typically, the shoulder is mounted on a stationary base structure rather than to a
movable body. This type of robot has six degree of freedom, meaning it can pivot in six different
ways. Human arms by comparison have seven degrees of freedom [2].
Like as we have our arm whose job is to move your hand from place to place. Similarly job of
robotic arm's is to move an object from one place to other that is what is a pick and place robotic
arm. Industrial robots are designed to do exactly in an controlled environment, over and over
again. For example, a robot might twist the caps of peanut butter jars coming down an assembly
line. To each a robot how to do its job, the programmer guides the arm through the motions using
a handheld controller. The robot stores the exact sequence of movements in its memory, and
does it again and again every time a new unit comes down the assembly line [5] .
Most industrial robots work in auto assembly lines putting cars together. Robots can do a lot of
this work more efficiently than human beings because they are so precise, They always drill in
the exactly the same place, and they always tighten bolts with the same amount of force, no
matter how many hours, they've been working. Manufacturing of robots are very important in the
computer industry. It takes precise hand to put together in tiny micro strip [4]

Enlisting the industrial robotic arms parameter:

1. Number of axes
2. Degree of freedom
3. Working Freedom: The region of space a robot can reach
4. Carrying capacity or pay load: How much weight a robot can lift.
5. Speed: How fast the robot can position the end of its arm, angular linear speed of each axis or
as a compound speed.
6. Acceleration: How quickly an axis can accelerate.
7. Accuracy: How closely a robot can reach a commanded position.
8. Repeatability: How well the robot will return to a programmed position.
9. Power source
10. Drive: Some robots connect electric motors to the joints via gears, others connect to the
motor to joint directly.
11. Compliance

This project is very much of a beginner level that is here we have used servo motors and
potentiometer where potentiometers act as controller of servo motors and servo motor act as a
joint. The servo motors and potentiometer are controlled by Arduino Uno board. The Arduino
Uno is a microcontroller board based on the ATmega328. It specification are 14 digital
input/output pins of which 6 can be used as PWM outputs, , a 16 MHz crystal oscillator, a USB
connection, a power jack, an ICSP header, 6 analog
inputs and a reset button. Servo Motor (SG 90- four pieces): Tiny and lightweight with high
output power. Servo can rotate approximately 180 degrees (90 in each direction), these are
excessively used when there is a need for accurate shaft movement or position. These are not
proposed for high speed applications. They are proposed for low speed, medium torque and
accurate position application[6] [7]. The voltage across variable resistors is not linear; it will be
bit noisy one. So to filter out this noise, capacitors of micro are placed across each resistor
2. Statement of the problem

The problem is to design a robotic arm at minimum cost using given types of parts. There are a
variety of parts and joints that are mentioned and specified below. Every part has some cost
associated with it. You have to try and minimize the cost of the construction of the robotic arm.
The lesser the cost, the better will be your solution. Please note that you have to place the object
(the iron block) on the other side of the wall as specified below and you are not allowed to drop
the block from any height.
3. Objective
3.1. General objective
To design and implement of robotic arm using arduino UNO . This work investigates modeling
and control of the robot manipulator by analyzing the kinematics of the robot and applying
control techniques. The aim of this project is to build a robotic arm for the purpose of lifting and
moving small objects. It is just like a human arm with joints to facilitate movement.

3.2. Specific objective

 To design and develop the interface of ARDUINO with GSM servo motor.
 To compensate for a handicapped individual with a severe case of limited mobility within the
upper limbs.
 To design our simulation in Proteus software.
 To compile our code and burn into ARDUINO.
 To understand and develop core knowledge in robotics.
 To implement the designs and build an actual prototype
 4. Motivation

Robotics is technology that deals with the design, construction and operation of robots that are
used in numerous applications is called robotics. It has become an unstoppable force in the
development of modern machinery as they make life easier. It is an interesting topic to dwell in
as it is the future of mankind. Although we know them as recent inventions, the idea of
automated or controlled machines has fascinated humans. With this fascination it motivated me
to work on this project, building and programming a mobile robotic arm. It is my hunger to learn
and attain knowledge that drives me towards this field of study for my project.Robots are being
increasingly investigated in motor rehabilitation due to the limitations of conventional
therapeutic approaches. One of the main application areas has been stroke rehabilitation, where
multicenter clinical trials have shown that robots can achieve long-term results comparable to
exercise with a therapist . Furthermore, robot-aided rehabilitation is frequently combined with
virtual reality. The reasoning for this is twofold. First, virtual reality enables a varied range of
tasks that can be trained in a short time. Second, virtual reality may be able to increase patient
motivation, which has been described by professionals as an important determinant of
rehabilitation outcome. Basically it is an engineering field that is concerned with research and
creation of robots for various applications. Robots are machines that consist of electronic and
mechanical parts such as gears and cogs put together for performing tasks in place of humans.
They can be programmed to perform a whole range of tasks with ease. They are most desired for
certain functions because they never tire, they can endure harsh physical conditions that is
possibly life threatening and they never get bored or distracted from repetitious work. The
number of robots has begun to increase in numbers everywhere as they make human labour
almost non-existent with their efficiency and throughput. They can work with the simplest of
materials to the most dangerous such as radioactive materials. They can be found more
commonly in industrial use from production lines of factories to harvesting of fruits in orchards.
In domestic use, from vacuum cleaning to lawn mowing where these domestic tasks have
become boring for a human to undertake and would rather leave it to robots.
5. Scope and Limitation of the Study
5.1. Scope of Project
Despite the great advancements in the field of robotics and continuous efforts to make robots
more and more sophisticated to match the capabilities of human beings and even surpass them,
still, from a very scientific and logical point of view, robots developed up till these days are no
way closer to human beings. The project is wide itself due to constrain of time these delimited to
software implementation.

5.2. Limitation of the study

Robots have basic levels of complexity and each level has its scope for performing the requisite
function. The levels of complexity of robots is defined by the members used in its limbs, number
of limbs, number of actuators and sensors used and for advanced robots the type and number of
microprocessors and microcontrollers used. Each increasing component adds to the scope of
functionality of a robot. With every joint added, the degrees of freedom in which a robot can
work increases and with the quality of the microprocessors and microcontrollers the accuracy
and effectiveness with which a robot can work is enhanced. The motion of this robotic arm is
restricted to a circular path. Any task which can be done by the motion along the circular arc can
be performed by this robot.
6. Literature review
1. Design Analysis of a Remote Controlled “Pick and Place” Robotic Vehicleby B.O. Omijeh In
this paper The design of a Remote Controlled Robotic Vehicle has been completed. A prototype
was built and confirmed functional. This system would make it easier for man to unrivalled the
risk of handling suspicious objects which could be hazardous in its present environment and
workplace. Complex and complicated duties would be achieved faster and more accurately with
this design.[01]

2. ROBOTICS ARM CONTROL USING HAPTIC TECHNOLOGY by Vipul J. Gohil In this

paper the system robotic arm based on real-world haptics. The primary goals of haptic guidance
is to facilitate the learning of complex human motion skills by providing haptic cues that are
helpful to induce desired movements. The proposed system is utilized to recognize the human
motion..Large potential for applications in critical fields as well as for leisurely pleasures. Haptic
devices must be
smaller so that they are lighter, simpler and easier to use.Haptic technology allows interactivity
in real-time with
virtual objects.[02]
3. A Review on Robot Arm Using Haptic Technologyby Prof. A. Reshamwala, R. Singh In this
paper The proposed system is utilized to recognize the human motion. Controlling the robot arm
using Haptic technology is discussed in this paper. The concept which is discussed here will be
the implementation of 3-DOF based robot arm using less number of resources. The main focus of
the implementation is going to be how it will be easily operated by disable people. As literature
survey continues more advanced feature may be part of this implementation such as obstacle
detection and how the concept of image processing will be used in robot arm is considered to be
future work.[03]
4. DESIGN AND OPERATION OF SYNCHRONIZE ROBOTIC ARM by Goldy Katal,
SaahilGupt In this paper propose The robotic arm can be designed to perform any desired task
such as welding, gripping, spinning etc., depending on the application. For example, robot arms
in automotive assembly line perform a variety of tasks such as wielding and parts rotation and
placement during assembly. The robotic arm can be designed to perform any desired task such as
welding, gripping, spinning etc., depending on the application. For example robot arms in
automotive assembly line perform a variety of tasks such as wielding and parts rotation and
placement during assembly.[04]
5. Design of a Robotic Arm for Picking and Placing an Object Controlled Using
LabVIEWbyShyam R. Nair In this paper propose of LABView controlled robotic arm was
successfully designed. The robotic arm was found to be
user friendly and the integration of accelerometer was much helpful in attaining the feedback
regarding the position of the arm. The LABView is designed to input the coordinates of object in
the real time environment. To select the real time
object, the corresponding coordinate is inputted. The action of picking or placing is also given
through the LABView panel. Once the robot gets the coordinates, it uses the inverse kinematics
to calculate the required rotation.[05]
6. Design And Implementation Of A Robotic Arm Based On Haptic Technology by A. Rama
Krishna In this paper propose of various aspects to design a robotic arm based on the haptic
technology considering various aspects of it, and the basics of machine designing are observed
that are explained clearly. These robots have a wide range of industrial and medical applications
such as pick and place robots, surgical robots etc. They can be employed in places where
precision and accuracy are required. Robots can also be employed where human hand cannot
penetrate. The screen shot shows the designed robot and its functionality.
7. Resources required (HARDWARE AND SOFTWARE)
7.1. HARDWARE
 ARDUINO
 Servomotor
 Power supply
 Connecting wire
 Resistors(potentiometer)
 Capacitor

7.2. SOFTWARE

 ARDUINO
 Proteus 8 Professional
8. Cost Breakdown
Table 7.1: list of costs

Name Model quality cost

1. ARDUINO ………… 1 1000

2. Servo motor 4
3. potentiometer 4

9. Thesis plan (time Schedule)

 10. Methodology

Fig 1 block diagram for methodology

Fig 1 show the Block diagram representing the robotic arm , The components here used are
arduino uno board, capacitors, servo SG90,10k pot variable resistor. Now talking about servo
motors they are excessively used when there is a need for a accurate shaft movement or position.
These are not proposed for a high speed applications . Servo motors are proposed for low speed,
medium torque and accurate position application. So they are best for designing robotic arm.
Servo motor are available at different shapes and sizes. We are going to use small servo motors
(four) a servo motor will have mainly three wires positive voltage another is for ground and the
last one is for position setting. The RED wire is connected to power, the brown wire is grounded
and the orange wire is for signal.

1. The arm has been built with cardboards and the individual parts have been locked to servo
motors. Arduino Uno is programmed to control servo motors. Servos motors are acting as joints
of Robotic arm here. This setup looks a like a Robotic Crane or we can convert it into a Crane by
easy ways

2. This Robotic Arm is controlled by four Potentiometer with which we attach each with
potentiometer that is used to control each servo . We can move these servos by rotating the
potentiometer to pick some object, with some practice we can easily pick and move the object
from one place to another. Here we use low torque servos here but we can use more powerful
servos to pick heavy object.
3. Program done using Arduino 1.6.10.
4. We connect the circuit according to circuit diagram.
5. Now the voltage provided by these variable resistor voltage which represents position control
into ADC channels of Arduino.
6. We are going to use four ADC channels of UNO from A0 to A3. After the ADC initialization,
we will have digital value of pots representing the position needed by user.
7. We will take this value and match it with servo position.
8. The robotic arms takes a perfect scaling that is cardboard, foam board is cut using measuring a
servo are fitted according so that position of one servo motor does not affect the position of other
servo motor.
9. As we rotate the 10K pot the value changes accordingly and we get rotation in the output of
servo motor.
10. The voltage across variable resistors is not completely linear; it will be a noisy one. So to
filter out this noise, capacitors are placed across each resistor
References:
1. Brooks, Rodney A., “New Approaches to Robotics”, Science, vol. 253, pp. 1227- 1232, 13
September, 1991.
2. John-David Warren, Josh Adams and Harald Molle “Arduino Robotics”, Springer Science
and Business Media, 2011.
3. Patel, R. H., Desai, A. and Upadhyaya, T. (2015), A discussion on electrically small antenna
property. Microw. Opt. Technol. Lett., 57: 2386–2388. doi:10.1002/mop.29335
4. Araújo, D. Portugal, M. Couceiro, C. Figueiredo and R. Rocha, "TraxBot: Assembling and
Programming of a Mobile Robotic Platform". In Proc. of the 4th International Conference on
Agents and Artificial Intelligence (ICAART 2012), Vilamoura, Portugal, Feb 6-8, 2012.
5. M. Quigley, B. Gerkey, K. Conley, J. Faust, T. Foote, J. Leibs, E. Berger, R. Wheeler, and A.
Y. Ng, "ROS: an open-source Robot Operating System," in Proc. Open-Source Software
workshop of the International Conference on Robotics and Automation, Kobe, Japan, May,
2009.
6. B. Gerkey, R. Vaughan and A. Howard, "The Player/Stage Project: Tools for MultiRobot and
Distributed Sensor Systems", In