REMOTE CONTROL ROBOTIC ARM

Fatih Bölükbaş
Advisor: Dr. Öğr. Üyesi Uğur Kemiklioğlu

January, 2021

DOĞUŞ UNIVERSITY
Department of Mechanical Engineering
 TABLE OF CONTENTS

Page
List of Figures………………………………………………………………………………………………………………………………....... ii

Abstract………………………………………………………………………………………………………………………………………….… iii

1. Introduction………………………………………………………………………………………………………………………………….. 1
2. Project Overview…………………………………………………………………………………………………………………………… 2
2.1. Brief Information About Robotic Arm Technology……………………………………………………….… 2
2.2. The Characteristics of the Robotic Arm Types and Features That Project Should Have
Accordingly……………………………………………………………………………………………………………………………………….. 2
2.2.1. Cartesian Robotic Arm……………………………………………………………………………………. 3
2.2.2. SCARA…………………………………………………………………………………………………………….. 3
2.2.3. Acticulated Arm……………………………………………………………………………………………… 4
2.3. Control Mechanism……………………………………………………………………………………………………….. 5
3. DESIGN………………………………………………………………………………………………………………………………………….. 6
3.1. Structure Design……………………………………………………………………………………………………………. 6
3.2. Circuit Diagram………………………………………………………………………………………………………………. 7
4. APPARATUS…………………………………………………………………………………………………………………………………… 8
4.1. Servomotor……………………………………………………………………………………………………………………. 9
4.2. Arduino………………………………………………………………………………………………………………………….. 9
4.3. Arduino Sensor Shield………………………………………………………………………………………………….. 10
4.4. Voltage Regulator………………………………………………………………………………………………………… 10
4.5. Adapter……………………………………………………………………………………………………………………….. 11
4.6. Bluetooth Module……………………………………………………………………………………………………….. 11
4.7. Jump Wire……………………………………………………………………………………………………………………. 11
5. DIAGRAMS………………………………………………………………………………………………………………………………….. 12
5.1. System Diagram…………………………………………………………………………………………………………… 12
5.2. Functional Block Diagram…………………………………………………………………………………………….. 13
5.3. State Diagram………………………………………………………………………………………………………………. 14
6. CONCLUSION………………………………………………………………………………………………………………………………. 15
 LIST OF FIGURES

Page
Figure 1: Cartesian Robotic Arm……………………………………………………………………………………………… 3
Figure 2: Scara………………………………………………………………………………………………………………………… 3
Figure 3: Acticulated Arm……………………………………………………………………………………………………….. 4
Figure 4: FBD of Robotic Arm………………………………………………………………………………………………….. 6
Figure 5: Project Circuit Diagram…………………………………………………………………………………………….. 7
Figure 6: Servomotor……………………………………………………………………………………………………………… 9
Figure 7: Arduino UNO Board…………………………………………………………………………………………………. 9
Figure 8: Arduino Sensor Shield……………………………………………………………………………………………. 10
Figure 9: Voltage Regulator…………………………………………………………………………………………………… 10
Figure 10: Adapter………………………………………………………………………………………………………………….. 11
Figure 11: Bluetooth Module………………………………………………………………………………………………….. 11
Figure 12: Jump Wire……………………………………………………………………………………………………………… 11
Figure 13: System Diagram of Project…………………………………………………………………………………….. 12
Figure 14: Functional Block Diagram of Project………………………………………………………………………. 13
Figure 15: State Diagram of Project………………………………………………………………………………………… 14

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 ABSTRACT
In this report, the robot arm technology, the models in use, the advantages and
disadvantages of these models are mentioned. Based on this information, the features that the
project should carry and the benefits of the integration of robot technology into daily life are
explained. The early stage design of a model that can be developed for this integration, the elements
and tasks to be used, the circuit diagram and various diagrams and explanations that explain the
general working logic of the project are also presented in the report.

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 1. INTRODUCTION

Within the scope of the project, it is aimed to integrate the robot arm technology, which is
used extensively in the industrial field and mass production lines, to be used in many areas of daily
life. With the developing technology, many devices used in daily life are autonomous, and it is one of
today's requirements that this project can be controlled remotely with the help of smart devices.
In this direction, the robot arm can be remotely controlled by bluetooth through the applications to
be installed on the smart devices. With the ease of access to materials and resources, the level of
projects that can be made as an amateur or for hobby purposes is increasing. In this context, thanks
to robotic arms that can be controlled by smart devices, it will be easier and safer to intervene in
areas where direct human contact is difficult or dangerous. The use of a robotic arm will also reduce
the human factor in the projects, thus providing a more stable working opportunity.
The experience of using robotic arms integrated into daily life in personal projects will be a good
infrastructure for more advanced robot arms that are frequently used in industrial areas in the
future. Parallel to this, another aim of the project is to increase the technological awareness of the
society by bringing an industrial technology to daily life.

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 2. PROJECT OVERVIEW

2.1. Brief Information About Robotic Arm Technology

A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a
human arm; the 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 or translational displacement. The links of the manipulator can be considered to form
a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end
effector and it is analogous to the human hand. However, the term "robotic hand" as a synonym of
the robotic arm is often proscribed.

Robot arms are designed and manufactured for use in complex, expensive and heavy
industrial areas with high workloads. Regarding robot arms used in industrial areas, closed-loop
control systems are typically used with drive motors or shaft encoders, usually located at joints. The
use of shaft encoders and drives in each joint ensures precise handling of the robot arm. Due to the
high weight affecting the joints due to the use in industrial areas, the structural components of the
robot arm should be strengthened accordingly. Therefore, attention should be paid that the drive
mechanisms are not inadequate. As a result, such robots are expensive, bluky and large in size.

2.2. The Characteristics of the Robotic Arm Types and Features That Project Should
Have Accordingly
Robot arm technology has been used in different fields in the industry for a long time. One of
the advantages of being a technology that has been used for a long time is that it has different
versions for different usage areas. And some of these versions are:

• Cartesian Robotic Arm

• SCARA

• Acticulated Arm

And all these versions have some advantages and disadvantages.

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2.2.1. Cartesian Robotic Arm

The Cartesian robotic arm consists of three joints with the

standard x-y-z cartesian axes. This allows the arm to only
move linearly.

Advantages:

 Reach high speeds easily

 High positioning accuracy

 Easy to manufacture and program Figure 1: Cartesian Robotic Arm

 Affordable
Disadvantages:
 Structure is large and bulky

 Requires large work zone

2.2.2. SCARA
The SCARA (Selective Compliance Assembly Robot Arm) (Figure 2) refers
to the fact that a SCARA’s arm segments, or links are ‘compliant’. That is,
they can move freely, but only in a single geometrical plane. The two
joints closest to the base of a SCARA rotate left and right in a horizontal
plane. The third joint consists of a rod which holds the robot’s end
effector.
Advantages:
 Fast and more precise performance

 High degree of rigidity Figure 2: SCARA

 Can be thoroughly sealed and safeguarded

 Most designs are quite small, therefore easily transportable and thus, lowers costs
Disadvantages:
 Limited in movement

 Third joint for end effector cannot tilt and change angles. Thus, limited to up and down
movement.

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2.2.3. Acticulated Arm
The Articulated Arm contains two more joints than the four axis
SCARA, therefore allowing for more freedom of movement. The
first joint closest to the base moves in the horizontal plane like a
SCARA, while the other two joints move in the vertical plane. In
addition, the sixaxis articulated robot has a ‘forearm’ and two
‘wrist’ joints, which allows it to perform the same types of
movements as a human arm. The additional joints allows the arm
to pick up any specimen, no matter how it’s horizontally
orientated.
Figure 3: Acticulated Arm
Advantages:
 Maximum flexibility out of all the arms. The arm consists of three or more rotary joints.

 Superior manoeuvrability and agility.

Disadvantages:

 Most expensive due to the complexity of its assembly and parts.

 Difficult to manufacture and assemble

The common main feature of all these models is that they are not suitable for daily life
despite their wide range of uses. Based on this, the basic features of the robot arm aimed to be built
within the scope of this project are:
• Axial movement • Easy installation

• Portable • Availability of materials

• Minimum space occupation • Affordable price

With the integrating robotic arm technology into daily life, it is aim to:
• Support simple workshop and hobby projects.

• Making it safer to intervene in areas where direct human contact is difficult or dangerous.

• Create a more stable working environment by reducing the human factor in projects.

• Increasing technological awareness by bringing a technology used in industrial areas to daily

life.

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2.3. Control Mechanism
With the development of technology day by day, the tools we use in daily life are increasingly
being used remotely. In this context, the fact that this project can be controlled remotely is one of
today's requirements. Some of the devices used for remote control can be shown as examples
below:
• Remote Controllers

• Control Panels

• Smart Devices
The increase of smart devices in our lives, their usage areas has been expanded. And these
devices made it easy to access many wireless communication methods. Such as:
• Bluetooth

• Wi-Fi

• Infrared

The working logic of the robot arm to be developed within the scope of the project can be
summarized as follows;
The robotic arm and control system is an open-loop system that is formed by the
combination of multiple elements and it can move in multiple axis. These elements that make up the
system are connected to each other in a way that enables circular movement. Position calibration in
the system is provided by position sensors at each joint. Controllers are used to manipulate each join
in a predetermined way and to monitor the output of each position sensor. The controllers ensure
that all structural elements move relative to each other so that output data is taken from the
position sensors in each joint. Controller moves all system elements in a predetermined order to
bring the system from its initial position to a predetermined positon.

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 3. DESIGN

3.1. Structure Design

Figure 4: FBD of Robotic Arm

The robot arm whose FBD (Free Body Diagram) is shown above consists of five main parts. These are
base, waist, arms, elbow and gripper.
Base is the element that carries the system elements, is attached to these elements and
allows the system to be fixed to the ground.
Waist is the element carrying arms and gripper. In addition, the waist allows the robot arm to
move in a circular motion around its own.
Arms consist of two parts in total. While one of these parts enables the system to move in
the horizontal plane, the other allows it to move in the vertical plane.
The elbow is the element to which the gripper is attached and allows the gripper to move
around its own axis and in the vertical plane.
The gripper is the last element of the system. Its main function is to grasp the sample and
move it.

In order for the system to move axially comfortably, a total of six servomotors, including
three main and three auxiliary, are required. The main servomotors are attached to the waist and
arms, helping to determine the position of the system in line with the command received. Auxiliary
servomotors, on the other hand, allow the elbow and gripper to move in a circular and vertical plane,
while providing more precise movement compared to the main servomotors.

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3.2. Circuit Diagram

Figure 5: Project Circuit Diagram

The circuit diagram above shows how the circuit elements are connected.
The power supply transmits the power required for the operation of the system to the
Arduino, bluetooth module and servomotors via jumper wires and a connection board. The
bluetooth module, which is directly connected to the power supply, transmits the commands it
receives from the controller to Arduino through jumper wires. Arduino moves servomotors, which
conncected by jumper wires and connection board, with commands where it gets from controller.
Servomotors, the last element of the system, are connected to the system with the power and
connection outputs on them and perform the movements according to the commands from the
controller.

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 4. APPARATUS

Based on the compliance with daily life, which is one of the main objectives of the project,
the material and dimensions of the robotic arm gain importance. In this context, producing the main
frame of the robotic arm with 3D printer will be suitable for the purpose of the project. Connection
and control elements other than the main frame are listed below:

• Servomotors

• Ardunio

• Ardunio Sersor Shield

• Voltage Regulator

• Adapter

• Bluetooth Module

• Jump Wire

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4.1. Servomotor
A servomotor is a simple electric motor, controlled with the help of servomechanism. If the
motor as a controlled device, associated with servomechanism is DC motor, then it is commonly
known as a DC Servo Motor. If AC operates the controlled motor, it is known as a AC Servo Motor. A
servomotor is a linear actuator or rotary actuator that allows for precise control of linear or angular
position, acceleration, and velocity. It consists of a motor coupled to a sensor for position feedback.
It also requires a relatively sophisticated controller, often a dedicated module designed specifically
for use with servomotors.

Figure 6: Servomotor

4.2. Arduino
Arduino is an open-source platform used for building electronics projects. Arduino consists of
both a physical programmable circuit board and a piece of software that runs on your computer,
used to write and upload computer code to the physical board.

Arduino Uno is an open-source microcontroller board based on the Microchip ATmega328P

microcontroller. The board is equipped with sets of digital and analog input/output (I/O) pins that
may be interfaced to various expansion boards (shields) and other circuits. The board has 14 digital
I/O pins (six capable of PWM output), 6 analog I/O pins, and is programmable with the Arduino
IDE (Integrated Development Environment), via a type B USB cable. It can be powered by the USB
cable or by an external 9-volt battery, though it accepts voltages between 7 and 20 volts.

Figure 7: Arduino UNO Board

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4.3. Arduino Sensor Shield
Arduino sensor shield is a low-cost board that allows you to connect a range of sensors to
your Arduino using easy-to-attach jumper cables. It’s a simple board with no electronics on it other
than a couple of resistors and an LED. Its main role is to supply those header pins to make it easier to
attach external devices like our servo motors.

Figure 8: Arduino Sensor Shield

4.4. Voltage Regulator

A voltage regulator is a system designed to automatically maintain a constant voltage level. A
voltage regulator may use a simple feed-forward design or may include negative feedback. 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.

Figure 9: Voltage Regulator

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4.5. Adapter
The adapter is referred to as electronic means that convert alternating current into direct
current of small value. In its known form, adapters are apparatus that reduce the city electricity to
the voltage required for the operation of the device.

Figure 10: Adapter

4.6. Bluetooth Module

Bluetooth module designed for transparent wireless serial connection setup. Its
communication is via serial communication which makes an easy way to interface with controller or
PC.

Figure 11: Bluetooth Module

4.7. Jump Wire

A jump wire is an electrical wire, or group of them in a cable, with a connector or pin at each
end which is normally used to interconnect the components of a breadboard or other prototype or
test circuit, internally or with other equipment or components, without soldering.

Figure 12: Jump Wire

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 5. DIAGRAMS

5.1. System Diagram

System diagram is a model used to visually express the dynamic forces acting upon the
components of a process and the interactions between those forces.

Figure 13: System Diagram of Project

 The user provides control of the claw by accessing the application interface with the smart
phone.

 The motion control is provided by Arduino, powered by the power supply, by transmitting
the commands it receives from the smartphone via the bluetooth module to the motors.

 The robotic arm performs the motion control by providing vertical and linear movement in
the direction of the movement of the motors.

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5.2. Functional Block Diagram
The Function Block Diagram is a graphical language for programmable logic
controller design, that can describe the function between input variables and output variables. A
function is described as a set of elementary blocks. Input and output variables are connected to
blocks by connection lines.

Figure 14: Functional Block Diagram of Project

 The system is started by turning on the robot arm.

 With the application, the claw is brought to the desired position.

 The claw is moved up and down with the application according to the position of the sample.

 The specimen is taken from its location and placed at the desired point and the movement is
terminated.

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5.3. State Diagram
A state diagram is a type of diagram used in computer science and related fields to describe
the behavior of systems. State diagrams require that the system described is composed of a finite
number of states; sometimes, this is indeed the case, while at other times this is a
reasonable abstraction.

Figure 15: State Diagram of Project

1. The system in the uninitialized state is powered.

2. The powered system is controlled by the application.

3. The arm is moved or left stationary.

4. If the arm is stationary, the system is switched off.

5. The specimen is picken-up from its position by moving the arm.

6. The specimen is placed in the desired location.

7. The system is switched off after the specimen is placed in the desired location.

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 6. CONCLUSION

As explained in the report, even though robotic arm technology has a wide area of use, it is
not suitable for daily life. With the integration of such a technology into daily use, many
conveniences will be provided. It consists of easy and easily available materials to produce and
will reduce the cost and make the project easier to reach large masses. The fact that it can be
controlled remotely with smart devices is a requirement of compliance with today's conditions
and will also provide ease of use and comfort for users. It allows users who wish to use
programmable elements in the project to make changes in the project. In this way, freedom of
use is provided to users.

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