A

Project Report
On

4 Degree of Freedom Robotic Arm

Using Arduino Nano (Microcontroller)

Year: 2019-20

Submitted by
 ACKNOWLEDGEMENT

I would like to express my special thanks of gratitude to my Project Guide

Mr………………………………………………… for his valuable guidance,
encourgemement and co –operation during the course of this project and its making.

I m also thankful to Mr. Krishankant Sharma who went out of way to provide me
every possible facility and support in project running smoothly and successfully. It was
his able guidance and support, which resulted in the successful of project within the
specified time. Their unflinching help and encouragement was a content source of
inspiration to me.

The golden opportunity to do this wonderful project on the topic Robotic Arm using
Aurduino Nano microcontroller, which also helped me in doing a lot of Research and I
came to know about so many new things I am really thankful to them.

Secondly i would also like to thank my parents and friends who helped me a lot in
finalizing this project within the limited time frame.
 ABSTRACT

Robotic arm is an attempt to develop an analogue for the human hand for doing work
which the better to be done by a robot for its repetitive nature. This 4 DoF(Degree of
Freedom) Robotic Arm is based on Arduino Nano which is a development board
using AVR ATmega328p microcontroller and Arduino environment for development
and programming. This arm is having 4 DoF which means it has four moving joints
which are independent of each other (i.e. Movement in one joint don’t cause
respective movement in other moving joints. Further this arm is capable of pick and
place work.
This arm can be programmed using its very interactive teach pendent, which makes it
more versatile in nature. Further it is not that much expensive and can be very useful.
 TABLE OF CONTENTS

SR No. Topic

1 Introduction of Robotic Arm

2 Introduction of Arduino Nano

3 Actuator Used in Robotic Arm

4 Controlling Element in Arduino nano

5 Bill of Materials

6 Application of Chip

8
 LIST OF FIGURES

.
FIG. Figure Name
NO.
1 PCB Design

3 Real Photo of Project

4 Arduino Nano

5 Arduino Logo

9
 INTRODUCTION

Nowadays, manual labor is being reduced at big scale industries and factories to
increase efficiency and gain profit by installing robots that can do repetitive works. A
onetime installation of such a device may cost a huge amount, but in the long run, will
turn out to be more profitable that manual labour. Out of the lot, a simple robotic arm
is one of the most commonly installed machines. We are introducing the basic concepts
of an Arduino controlled robotic arm project.

The programmable robotic arm finds extensive applications in its use in extreme
conditions like space mission or underwater expeditions. It is also using in nuclear
power plants and in toxic atmosphere where human surveillance is difficult.

There are numerous types of robotic arms used in industries but going to give us details
on a basic prototype. The movement of parts is done by servomotor, which can rotate
approximately up to 360 degrees. The whole circuit is powered by 12-volt adapter and
an Arduino Nano is used as the controlling unit. The servo motor for robotic arm is
controlled by the movable zigzag arm. The communication between controlling arm
and servo robot arm is done by user itself.

Robotic Arm is one of the popular concepts in the robotic community. Robotic arms
are very common in industries where they are mainly used in assembly lines in
manufacturing plants.

The first thought for a beginner would be constructing a Robotic Arm is a complicated
process and involves complex programming. Even our thoughts were same in the
beginning and once we put our full focus on the thing, we found it rather easy and all it
takes is some time and tinkering.

In this project, we have built a simple Robotic Arm, which is fully automated to do
certain tasks. Apart from the four servo motors we have used Arduino Nano and bread
board for connecting all these components that are part of the arm.

This is to say that we can build a Robotic Arm with the things we got around and do
not require pre designed parts or 3D printed parts.

We will see a step by step construction of the Robotic Arm. The construction made in
this project and demonstrated in this project is as per our convenience and just to give
an idea to the user. The power supply to the servos should not be given from Arduino
Nano. A separate 12V regulated supply has been used.

The control pins of each servo must be connected to the PWM pins of the Arduino. We
will be making an automated robotic arm and hence we require four potentiometers for
controlling them. Now that we have seen the simple circuit diagram, we will jump to
the actual construction.

Components Used :
Components Specifications Quantity

Arduino Nano 1

Servo Motor G9 4

Robotic Arm 3D Printer Parts 1

Potentiometers Trimmer 10kΩ 4

Power Adaptor 12 Volt 1

Bill of Materials

Label Part Type Properties

J1 Basic Servo part # Tower pro 9g
J2 Basic Servo part # Tower pro 9g
J3 Basic Servo part # Tower pro 9g
J4 Basic Servo part # Tower pro 9g
JP1 Header 6 variant smd; package 1x06-smd; part # PINS
 JP2 Header 6 variant smd; package 1x06-smd; part # PINS
Arduino
Part1 Nano type Arduino Nano (3.0) ICSP; part # ARDUINO
(Rev3.0) NANO
(ICSP)
R1 10kΩ Resistor resistance 10kΩ; tolerance ±5%; package 0805
[SMD]
R2 10kΩ Resistor resistance 10kΩ; tolerance ±5%; package 0805
[SMD]
R3 Trimmer Potentiometer resistance 10kΩ; tolerance ±5%; package
0805 [SMD

R4 Trimmer Potentiometer resistance 10kΩ; tolerance ±5%; package 0805

[SMD

track Linear; maximum resistance 10kΩ; size Trimmer - 6mm;

package THT; type Trimmer Potentiometer; part # POT1

track Linear; maximum resistance 10kΩ; size Trimmer - 6mm;

package THT; type Trimmer Potentiometer; part # POT2

track Linear; maximum resistance 10kΩ; size Trimmer - 6mm;

package THT; type Trimmer Potentiometer; part # POT3

track Linear; maximum resistance 10kΩ; size Trimmer - 6mm;

package THT; type Trimmer Potentiometer; part # POT4

S1 Momentary Switch variant pth; package tactile-pth; part # PAUSE

S2 Momentary Switch variant pth; package tactile-pth; part #

RECORD/PLAY

V1 DC Power type dc power supply; voltage 12V; part # External

supply
Arduino Robotic Arm Project – Working
The mini-robot arm uses four servomotors to move the arm. Servomotors are
controlled by Arduino and connected to the PWM pin of Arduino. There are eight
buttons in the android app. Out of these, four buttons are used to control the four servo
motors. One button is used for clockwise rotation and other is used for anticlockwise of
the mini robot arm.

Out of eight buttons, four buttons are Red and four are Yellow. When a button is
pressed it sends a unique character to Arduino via Bluetooth. As soon as the Arduino
receives the character, its command is identified and rotates the servo motor
accordingly.

For clockwise rotation of servo motor the red button in the application is to be pressed.
Four buttons are used for each servomotor. When the red button is pressed it sends two
types of characters. First is the press character and the second is the release character.
When a button is pressed, a character is sent through Bluetooth and the Arduino rotates
the servo motor one degree in one cycle. If button is not released servomotor moves
one degree in next cycle.

Arduino Robotic Arm Project – Circuit

In the circuit, Arduino Nano is used and Bluetooth module HC-05 is connected to it.
Servomotors are connected to PWM pins
of Arduino and the circuit is powered with 12 volt DC adapter.

There are three pins in the servo motor. One is the Vcc, other is the GND, and the third
is the SIG pin. The SIG pin is connected to PWM pins of Arduino. The pins 6, 9, 10
and 11 are connected to the servomotor. Bluetooth module has four connecting pins.
Two of them are Vcc and GND. The other two are Rx and Tx pins. Rx pin is connected
to pin 8 of Arduino and TX pin is connected to pin 12 of Arduino.

In the robotic arm project using Arduino, an etched PCB is used. The PCB design is
given below.
 Arduino Robotic Arm Project – PCB Design

The circuit diagram is given below.

Simple Robotic Arm Project Using Arduino – Circuit Diagram

What is Arduino Nano Rev3?
The Arduino Nano is a small, complete, and breadboard -friendly board based on
the ATmega328P (Arduino Nano 3.x). It has more or less the same functionality of
the Arduino Duemilanove, but in a different package. It lacks only a DC power
jack, and works with a Mini-B USB cable instead of a standard one.
ARDUINO :
Arduino is an open source computer hardware and software company, project, and
user community that designs and manufactures single-board microcontrollers and
microcontroller kits for building digital devices and interactive objects that can sense
and control objects in the physical and digital world.

Figure 2: Arduino Logo

APPLICATIONS :

Industrial Purposes:

In industrial sector, ZigBee technology helps improve Automated Meter Reading

(AMR) for utility and energy management, logistics and inventory tracking, and
security and access control. Other systems can be tracked for preventive
maintenance & performance monitoring. Seismic detectors, inclinometers, robotics
and security systems are just a few examples.

Fingerprint Keypad Lock:

If you're like most people, you're probably frustrated when fumbling with multiple
keys late at night, or when you're juggling grocery bags. The Fingerprint Keypad
Lock combines a conventional cylinder lockset with state-of-the-art fingerprint-
reading circuitry and a digital keypad. You'll be able to keep your keys in your
pocket and open the door by simply pressing the sensor with your registered
fingerprint, or you can key in your PIN on the keypad. Electronic access is also
great for housekeepers and guests anyone you'd rather not have a key. With a
single latch mortise, installation of this fingerprint door lock is both simple and
quick. This Lock can store upto 120 different fingerprints to allow access for
family members, cleaning staff, friends, and more. A super integrated circuit chip
easily allows a full-function program of enrolling and erasing fingerprints.
Butterfly Indoor Flyer:

The Butterfly Indoor Flyer is the small stand lightest ready-to-fly RC airplane
available. At 3.6 grams, this delicate plane is small and light enough to maneuver
around your living room. The included four-channel transmitter provides precise
control for tight turns and slow flying. Your airspace needs only to be 12 feet by 16
feet.. The Butterfly Indoor Flyer remote control airplane has a beautifully
constructed delicate airframe along with a carbon-fiber propeller, a Swiss-
engineered gearbox, and a tiny 4mm coreless motor. Control the RC airplane with
the transmitter's two joysticks.
Motion and Heat-sensing solar Floodlight:

For installing a heat sensing solar floodlight without having to hire an electrician to
swire it. Install this solar powered security light anywhere around your home
without wiring hassles or expensive battery replacement! This maintenance-free
security light uses solar energy to power the long lasting, bright, energy-efficient
halogen bulb, so you won't be left in the dark. Install a Solar Floodlight with Heat
& Motion Sensor near each of your entryways and you can be sure that your family
can enter and exit your home safely, even when there's a power outage. The Solar
Floodlight is powered by a rechargeable lead acid battery, which is included.

There is no need to worry about cloudy skies, because the Solar Floodlight works
for approximately 2 weeks without ANY sunlight (at an average of eight 30-
second light intervals each night)! A built-in motion and heat sensor turns the light
on for people, but not for swaying tree branches. You can adjust the sensitivity of
the sensor to pick up a full 90° horizontally, at a distance of up to 30 feet. Set the
darkness level to keep the light from coming on too early in the evening or too late
at night. Choose either a 30- or 60-second duration for the light to remain on after
the last motion detected. A 14-foot cable between the solar panel and the light lets
you place the security light where you need it, while allowing the solar panel to be
installed facing the sun.
Wireless Personal Area Networking (WPAN):

Whereas RFID is a method of remotely storing and retrieving data using RFID tags
and readers, Zigbee goes much further. It is a full- blown telemetry system in its
own right, with the ability to provide wireless personal area networking (WPAN)
i.e. digital radio connections between computers and related devices, such as
sensors. This kind of network eliminates the use of physical data buses such as
USB and Ethernet cables. As such, Zigbee it is the ideal system to provide the
copper-less warehouse or factory. When used in a tracking application, Zigbee
does not require the read portals or the associated management software Zigbee
builds on the global communication protocol standards developed by the 802.15
Working Group. The fourth in the series of these protocols, WPAN Low rate
Zigbee is designed primarily for telemetry applications. However, its strength is
that it can be incorporated into small chips that consume little power and are
relatively inexpensive.

In Wind Turbines:

One of the first uses planned by IDC for Zigbee is in the area of offshore safety; in
particular, offshore manpower tracking in wind turbines. Tracking is required in
these structures for a number of reasons. First, because the weather often turns bad
very quickly, and there is a need to get people back on shore within 60 minutes.
Second, there is the safety issue of personnel working in isolation, remotely. Third,
security and access restrictions apply to the turbines.

Fourth, management needs to know who is working where, and how efficiently.
Fifth, access to maintenance logs is restricted. Finally, details of personnel medical
records can be held on the Zigbee chip, for fast retrieval of personnel medical
details in the event of an accident. The building blocks of this system using ZigBee
technology start with a simple configuration employing a single wireless sensor in
each turbine to log when a person enters and leaves.
Complementing this will be basic central software for real time tracking and logging.

.
 6.REFERENCES:
 www.zigbee.com ,
 www.smartthome.com ,
 www.wikipedia.org
 https://www.oreilly.com