Design, Analysis and Manufacturing of Four Degree of Freedom Wireless

(Wi-Fi) Controlled Robotic ARM

Patel C.H1, Masood Akhtar Vaheed*2, Pankaj Kathayat2,
Yash Singh Rajput2, Abdullah Asif Toukir3, Subba Reddy Nalamalapu3

ABSTRACT

This project concerns with the design of a three degree of freedom robotic arm, which is intended to pick and
place lightweight objects [i.e. objects<250g]. It is mainly made up of three joints, a gripper, two rectangular
shaped links, a rotary table and a rectangular platform. The angular rotation of each joint is powered with a
servo motor. Angular position of each servo is controlled using a HTML based graphical user interface. The
code uses inverse and forward kinematics for the setup and controlling purposes. The designing process includes
calculations, CAD Design and Analysis in order to ensure virtual establishment of structure and functionalities.
This report brings out a well calibrated, wirelessly controlled and thoroughly analyzed robot with a physical
model prototype.

Keywords: Degree of Freedom (DOF), Forward Kinematics, Inverse Kinematics, Manipulator, Wireless
Module, Servos, Internet of Things (IOT), Denavit-Hartenberg notation, Arduino, Graphical User Interface.

1. INTRODUCTION IDE. The development board and servos are powered by

Robot is a machine which can be programmed by
computer to perform a specific task or multiple tasks.
Robots have been introduced in the current fourth
industrial revolution. The aim of current Industrial
revolution has boosted robotics in zero downtime with
maximum output efficiency. As robots use more sensors
and become more digitally connected, they will become
much less susceptible to disruptions. When combined
with Internet of Things (IOT) the robots can be controlled
wirelessly with efficient feedback system. Now, it has
become easy to control robots remotely because of this.
In this thesis, the focus is on 4 DOF articulated robotic
arm. The articulated arm constitutes of various links
which can rotate about their pivot points. These pivot
points are powered by high torque metal geared servo
motor. A total of 5 geared motor has been used in this
project each of them can rotate up to 180 degrees. In total
this robotic arm constitutes of 5 major parts i.e. Base,
Shoulder, Elbow 01 1 , Elbow 02, End-Effector (Two
fingered Gripper). The robotic arm is controlled
wirelessly from a HTML based GUI. Such a control is
made possible by connecting the servos to a Wi-Fi based
microcontroller (ESP-8266 NodeMCU). The
microcontroller board has been programmed in Arduino
1 referred within the subject of robotics to find out the
Assistant Professor, 2Final Year Student of Mechanical
Engineering, Final Year Student of Automobile Engineering 3
1,2,3
School of Mechanical Engineering, Lovely Professional
University, Phagwara (144402), Punjab, India.
* Wireless Module, Servos, Internet of Things (IOT),
Corresponding Author Email: vaheedsk36@gmail.com
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buck boost converter which is connected to a 12 V DC
adapter. The positions of the robotic arm can be recorded
in the interface and can be replayed.
The motivation to manufacture such a robotic arm has
come from the scope of application of such robotic arms
which can be used in every application and almost
reduce/ replace most of the human effort/s. From picking
and placing a needle to picking and placing an excavators
or picking up highly fragile materials these robotic arms
can be proven out to be very useful. Wireless control has
given an extra edge to this robotic arm as it not only
avoids unnecessarily human engagement near the
workplace but also has provided a level of sophistication
to the robotic arm.
2 PROBLEM STATEMENT
The fundamental objective of this project is to Design,
Perform Analysis and Manufacture a working prototype
of a 4 DOF wireless (WIFI) controlled Robotic arm for
pick and place using the methodology defined below.
3 LITERATURE REVIEW
Before proceeding for this project various journals were
research gap. From these journals the research papers
having keywords such as Degree of Freedom (DOF),
Forward Kinematics, Inverse Kinematics, Manipulator,
Denavit-Hartenberg notation and Arduino were identified
from 2012 - 2018. A total of twenty-five papers were
selected which then were reduced to ten after thoroughly
going through the abstract of the research papers.
3.1 Wireless Mobile Robotic Arm by Mohd Ashiq
Kamaril Yusoffa, Reza Ezuan Saminb, Babul Salam
Kader Ibrahim.
In [2] it has been written about manufacturing wireless
mobile robotic arm. The whole project was carried out
based on the following methodology which includes
Defining problems, System Architecture, Mechanical
Design, Electrical Design and Software Development.
MG-995 servos were used for joint control. And for
controlling the whole robotic arm Microcontroller At-
mega 1280 Arduino mega development board was
used.PS-2 gaming controller was modified to use as
positioning controller. Overall, the objectives of this
project were achieved which is developing the hardware
and software for wireless mobile robotic arm,
implementing the pick and place system operation and
testing the robot that meets the criteria of the project. For
future recommendation it has been written that this
project can be equipped with camera to view and display
at the monitor screen.
3.2 Four DOF Robotic Arm using LabVIEW by
Mr. Rahul S. Pol, Mr. Sagar Giri, Mr. Aditya
Ravishankar, Mrs.Varsha Ghode.
In [3] the aim of the paper is to thoroughly elaborate
designing, development and to implement steps
involvedto make a superior four degrees of freedom
(DoF) robot ARM with control that is more organized and
low expenditure. The methodology used in this project is
Defining Problem, Calculation (Kinematic and Dynamic
Calculation), Mechanical Design, Electrical Design,
Software Development, Statistical Analysis (Load vs
Power Consumption etc.). Mg-995 servos were used for
joint control and At-mega 328-P Arduino Uno board was
used for controlling the robot. A user interface was
developed in LABVIEW software for controlling the
robotic arm by sending signal from the computer.
Analytical method was used to solve the inverse
kinematics with the help of cosine law. At the end it was
concluded that a proper well calibrates robotic arm was
achieved. The graphical user interface (GUI) built for the
robotic arm in LABVIEW software has made the robotic
arm more flexible to operate. The arm can do all the
loading and lifting operations under its specified weights.
For future recommendation it can be made remote area
controlled via internet and also the robots DOF can be
increased for more smooth operations.
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3.3 Design and Construction of 4-DOF EMG-
Based Robot Arm System by Fariz Ali, Junior Sintar,
Mohd.ShahrieelMohd, Aras, Ahmad ZakiShukor.
The Design and construction of 4-DOF EMG-Based
Robot Arm system has been written in [4]. This paper
focuses on control of robotic arm through the motion of
human hand using Electromyography (EMG) technique.
The methodology used in this project is Defining
Problem, Hardware Development, Developing Forward
Kinematics, Electrical Design, Sensor Calibration and
Electrode Positioning, Software Development and
Testing.Electromyography (EMG) is used for recording
the position of human arm and the recorded signal is then
sent to the microcontroller as signal for controlling the
robotic arm. This method is advanced than traditional
methods. For this Myorware muscle sensor is used. For
controlling the joints SG-90, Futuba S3003, MG-946R,
HD1501 MG Servos were used. And for controlling the
whole robotic arm Microcontroller At mega 328-P
Arduino Uno has been used. Denavit-Hartenberg (DH)
parameter was used for the forward and inward kinematic
calculation of the arm.A proper working robotic arm was
achieved. Its joints can be controlled by moving the
human hand and the manipulator can be controlled using
the hand gestures.
3.4 Design of a Three Degree of Freedom Robotic
Arm by Madiha Farman, Muneera Al-Shaibah, Zoha
Aoraiath.
The paper [5] concerns with design of a three DOF
robotic arm, which is intended to pick, and place
lightweight objects based on a color sorting mechanism.
It constitutes of three joints, anend-effector (gripping
mechanism), two links, a rotary table and a rectangular
base. The links are powered by servo motors for motion.
Furthermore, each servo is controlled by sending signal
from Arduino board which execute MATLAB code. The
MATLAB code has been done based on the forward and
inverse kinematics for determining the end effector
position. The methodology used is Static Calculations,
Designing, Analysis, Kinematics Calculations for
orientation, Determining Workspace, Design
Implementation and Testing. At last a well working robot
was achieved. For future work it will be recalibrated for
positioning accuracy and wireless connection will be set
up for control system.
3.5 Wireless controlled robotic automation
system by Prof. D.P. Acharya.
In [6] manufacturing of wireless controlled robotic
automation system had been discussed.This project
focuses on developing a controller for a wireless remote
area controlled 6 DOF articulated robotic arm.Arduino
uno board embedded with ATMega328 microcontroller
has been used for this robotic arm. For controlling the
position of the links servo actuators are used. The sensor
such as potentiometer will send input signal to the
microcontroller which in turn will analyze it and send
output signals to the robot actuator for the positioning.
The servo control I2C module is connected to PC.
Themicrocontroller ATMega328 has been programmed to
run robot arm recorded positionswith the help of a
FT232RL breakout board. Arduino (IDE) is used to
develop the Arduino sketch. Potentiometer was used to
develop a model prototype.The remote area control is
established by interfacing the controller with a XBee
XBP24-AWI-001 wireless module. The robotic arm can
be controlled from a PC using a graphical user interface
(GUI), which was designed using processing
development environment (PDE). The EEPROM present
inAtmega328 microcontroller to read and record robot
position. i.e. it can store the positions which can be reused
even when controlled remotely.
3.6 Design and the mechanism of controlling a
robotic arm by Prof. Ahmad Rateb Al-Najjar and
Prof. Ali Skaff.
In paper [7] 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 servo motors(Futuba
S3003 for arms and Sg-90 for gripper) 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
graphical user interface (GUI) was made using MIT app
inventor. This app helps in sending signals from the
android device in the form of zeros and ones to the
microcontroller via the Bluetooth module (HC-05) for
controlling the robotic arm.
3.7 Design of a prototype of a pick and place
robotic arm by Amod Aboti, Sanket Acharya,
Abhinav Anand, Rushikesh Chintale, Vipul Ruiwale.
The following paper [8] presents the development of
kinematic model, development of inverse kinematic
model and also validation of forward kinematics using
MATLAB for a SCARA robot. The joint link parameters
have been developed by using Denavit-Hartenberg
Parameters, and a generalized algorithm. It has been
concluded that the joint variables obtained by inverse
kinematics were satisfactory. Also, the forward
kinematics model developed is perfect as the values
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closely approximate the real values with an error less than
1% which is very desirable for such an application.
3.8 Hand Gestures Remote Controlled Robotic
Arm by Mr. Shamsheer Verma.
In this paper [9] author has explained the development of
a robotic arm, prepared by him, which is operated &
controlled wirelessly using hand gestures. It’s a CLASS –
5 Robot (Numerical Control Robot).The complete robot
was divided into two parts one comprises of the control
glove which had Gyroscope, Accelerometer, APC-220
module and a transmitter assembled in it .And the other is
the robot manipulator which consists of a Receiver,
Arduino board, Links with Servo motors The author has
also mentioned some of its applications:
I. Can be used in hazardous environment such as
painting shops etc. where the robot can be controlled
from outside of the hazardous chamber.
II. Automatic pick and place operations of small objects.
III. Robot controlled cranes, lifting forks etc. can be
operated from a distance with hand/finger gestures.
3.9 Dynamic simulation and motion load analysis
of six dof articulated robotic arm by KHIN SOE
NWE, WAI PHYO MAUNG.
This research paper [10] presents behavior and
performance of a six degree of freedom (DOF) robotic
arm by using simulation tool like Autodesk Inventor. A
3D model of the manipulator was built; with a total
workspace of 690 mm to carry a maximum payload of
200 g. Dynamic simulations were carried out on the
model to examine their properties such as torque variation
at the joints, speed, and trajectory of the manipulator. The
simulation result showed that the manipulator has
expected responses similar to a physical model.
Maximum velocity of end effector is 0.6 m/s and
acceleration of 0.59 m/s2. In the stress analysis,
maximum Von-Mises stress was seen in the base which is
equal to 14.91 MPa. It has been concluded by the author
that this simulation method will reduce the need for
testing on physical systems as long as the model
sufficiently represents robotic arm to be built.
4 METHODOLOGY
For completing this project efficiently in a systematic
way some set of methodology has been planned in order
to reduce the error in the process. Even if any of the
process not been achieved there will alternative ways in
the methodology to rectify them.
 Solving the equations in MATLAB the following result
were obtained:

For elbow one and elbow two the minimum torque

required is 0.1779 Nm, 0.4695 Nm and for the shoulder
it is 0.8502 Nm respectively.

Freebody Diagrams of the robotic arm at home position:

Figure 2: Free Body Diagram of arm at home position

5.2 CAD Design

Based on the objective defined the following CAD
model have been designed

Figure 1: Methodology Flow Chart

5 CALCULATIONS, DESIGN AND ANALYSIS

5.1 Static Torque Calculation

Static torque calculation is an essential process for
selecting the required servo motors. From this we get the
required torque and for an individual elbow and column.
This calculation was carried out in order to find out the
torque required at the elbows and shoulder for a given Figure 3: Isometric View of Robotic Arm
payload of 150g.The values which we get from this
method will help us to choose suitable servo motor for 5.2.1 Individual Part components of Robotic arm
the work. In order to find out the torque the arm must be
kept at home position (i.e. Elbow and shoulder angle
should be zero w.r.t the base link). From basic moment
and equilibrium concept we get the following Eqs, 1,2
and 3.

Equation 1 Torque at Elbow 01

Equation 2 Torque at Elbow 02

Equation 3 Torque at Shoulder

Figure 4: Base
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Figure 5: Isometric View of U-Joint Link Figure 8: Isometric View of Gripper

5.3 Static Structural Analysis

Static structural analysis is necessary task to perform in

order to find out the sustainability of the designed
structure.Calculation have been performed by keeping
the robotic arm at home position and load at individual
part has been calculated.
Software Used: Solid Works
Mesh Type: Tetrahedron

5.3.1 Base Analysis

Total mass of robot: 509 g

Mass of base: 130 g
Total mass acting on the base in home position: 509 -130
= 379 g
For easy calculation rounding off the mass to 500g.
So, 500g = 0.5 kg
Figure 6: Isometric View of Elbow 01 Force = mass (m) x acceleration due to gravity (g) = 0.5
x 10= 5 N
We will apply 5N force on the base to perform static
structural analysis.

Figure 7: Isometric View of Elbow 02 Figure 9: Base Analysis

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From the above structural analysis, we can conclude that From the above structural analysis, we can conclude
our design has been sustained for the applied load. The that our design has been sustained for the applied
results have been tabulated below. load. The results have been tabulated below.

Table 1: Base Result Table Table 2: U-Joint Result Table

S No. Parameters Values
S No. Parameters Values 1 Max von mises Stress 2.66
1 Max von mises Stress 4.28387 (Mpa)
(Mpa) 2 Resultant Displacement 2.56
2 Factor of Safety 1.6 (mm)
(FOS) 3 Factor of Safety (FOS) 2.6
3 Resultant 0.0327760
Displacement (mm) 5.3.3 Elbow 01 Analysis

5.3.2 U-Joint Analysis Total mass of robot: 509 g

Total mass acting on the base in home position: = 199 g
Total mass of robot: 509 g ~ 200g
Mass of U-Joint: 17 g Since, Acrylic sheet is a brittle material it would be
Total mass acting on the base in home position: 509 – beneficial to take higher value of force than required in
(130+17) = 362 g order to find out whether it will sustain or not.
For easy calculation rounding off the mass to 400g. That’s why we are considering a mass of 500g in place
So, 400g = 0.4 kg of 200g.
Force = mass (m) x acceleration due to gravity (g) = 0.4 So, 500g = 0.5 kg
x 10 Force = mass (m) x acceleration due to gravity (g) = 0.5
=4N x 10 = 5 N
We will apply 4 N force on the base to perform static We will apply 5N force on the base to perform static
structural analysis. structural analysis.

Figure 11: Elbow 01 Analysis

From the above structural analysis, we can conclude that

our design has been sustained for the applied load. The
results have been tabulated below.

Table 3: Elbow 01 Result Table

S No. Parameters Values
1 Max von mises Stress 21.125
(Mpa)
Figure 10: U-Joint link Analysis 2 Resultant Displacement 0.79
(mm)
3 Factor of Safety (FOS) 2.8
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5.3.4 Gripper Analysis From the above structural analysis, we can conclude that
our design has been sustained for the applied load. The
Gear Used: Spur Gear results have been tabulated below.
Gear Ratio: 1:1
Maximum angle: 160 deg Table 5: Gripper Result Table

Table 4: Gear properties table S No. Parameters Values

1 Max von Mises Stress 8.17002
S No. Gear Properties Value (Mpa)
1 No of teeth 15 2 Resultant Displacement 0.952
2 Face Width 13 (mm)
(mm) 3 Factor of Safety (FOS) 3
3 Pitch (mm) 5
4 Internal 10 6 Robot Kinematics
Diameter (mm)
5 Hub Diameter 0.8 6.1 Denavit-Hartenberg Notation [12]: The
(mm) definition of a manipulator with four joint-link parameters
6 Pressure Angle 20 for each link and a systematic procedure for assigning
(deg) right-handed orthogonal coordinate frames, on to each
7 Module (mm) 1.47059 link open kinematic chain by Denavit and Hartenberg
8 Pitch Circle 22.0588 (1995) and is known as Denavit-Hartenberg (DH)
Diameter (mm) notation. The parameters are the twist angle αi, link
9 Outer Diameter 25 length ai, link offset di, and joint angle θi.The relationship
(mm) between the joint variables and the position, and
10 Dedendum (mm) 2.94118 alsotheorientation of the gripper, is driven
usingthefollowingDH parameters as illustrated inTable 6
Total mass of gripper: 49 g below,andthestructure of the robot arm design according
Required maximum working mass for pick and place: to the DH parameters is shown in Figure 13.
150 g
So, 150g = 0.15 kg Table 6: Joint-Link parameter
Force = mass (m) x acceleration due to gravity (g) = 0.15
x 10 = 1.5 N
Since, the gripper in some cases may have to lift weight
more than 150 g so in order to check its sustainability we
decided to take double of its working load i.e. 300 g.
300 g = 0.3 kg = 3 N
We will apply 3 N force on the base to perform static
structural analysis.

Figure 13: Frame Assignment for articulated arm

Figure 12: Gripper Analysis
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6.2 Forward Kinematics [12]: When a set of join-
link parameter are given their orientation and position of
the end-effector can be find out with respect to a known
reference frame for a n-DOF robotic manipulator is
referred to as forward kinematic or direct kinematic
model. In short using this model one can find out the
position of the end effector when the link parameters are
given.
The basic transformations are calculated using Ti matrix
as follows:
Inverse Kinematics [12]: Inverse kinematics is reverse
of forward kinematics. Here, we are provided with the
position of the end-effector of a n-DOF robotic
manipulator and we have to find out join-link parameters.
Most of the time inverse kinematics is used to verify the
forward kinematics.
7 Hardware Implementation and Programming
7.1 Hardware used in this project
Based on the calculation done we have selected the
following hardware.
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i. Metal Geared Servo Motor (MG996r)
ii. Metal Geared Servo Motor (MG90s)
iii. ESP 8266 Node MCU development board
iv. Buck Boost Converter
v. 12 V DC Adapter
7.1.1 Metal Geared Servo Motor (MG996r)
Figure 14: MG996r Servo motor
MG996r is a high torque standard servo. These servos
have metal geared arrangement in them. Its operating
voltage is between 5 to 8 V.It has a stall torque of 9.4
kg/cm at 4.8V and maximum stall torque 11 kg/cm is
achieved at 6V. Rotation of servo is between 0-180
deg can also be extended to 360 deg. Its overall
dimensions are 1.6" x 0.8"x 1.4”. The total weight of
servo is 55 g. [13]
7.1.2 Metal Geared Servo Motor (MG90s)
Figure 15: MG90s Servo motor
MG90s is a high torque standard servo compared to SG
90 servo. These servos have metal geared arrangement in
them. Its operating voltage is between 4.8 to 6 V.It has a
stall torque of 1.8 kg/cm at 4.8V and maximum stall
torque 2.2 kg/cm is achieved at 6V. Rotation of servo is
between 0-180 deg can also be extended to 360 deg. Its
overall dimensions are 22.5 x 12 x 35.5 mm. The total
weight of servo is 13.4 g. [14]
7.1.3 ESP 8266 Node MCU Development board 7.1.5 12 V DC Adapter

Figure 18: 12V AC-DC Adapter

Figure 16: ESP8266 NodeMCU It is a simple adapter which converts 220-240V AC to

12V 2A DC. Two pins are plugged into the socket and
NodeMCU is a low cost IOT based development board. output is taken from the male pin.
It is based upon ESP-12 module and runs on ESP8266
firmware. It consists of Power pin, Control Pin, Analog
Pin, GPIO Pins, SPI Pins, UART Pins, I2C Pins. It
constitutes of Tenscilica 32- bit RISC CPU Xtensa LX
Microcontroller. It has an operating voltage of 3.3 V and
it input voltage is between 7-12V. There’s a total of MB
flash memory and 64 KB static ram in it. This module
has a clock speed of about 80 MHz [16]

7.1.4 Buck Boost Converter (XL4015 5A DC-DC)

Figure 19: Circuit Diagram

The following circuit has been made for the robotic arm.
All the servos data pins are connected to the GPIO pins
of NodeMCU. An input voltage of 6.5 V is taken from
buck boost converter (XL 4015 5A DC-DC). All the
servos positive wire is connected to the buck boost
converter and negative wires of servo and converter is
connected to NodeMCU ground pin. NodeMCU is
powered through USB cable. The Buck converter take
input voltage from a 12V 2A AC-DC Adapter.
Figure 17: Buck converter
Table 7: GPIO Pins Used
Buck Boost Converter (XL4015 A DC-DC) is a module
S No. GPIO PINS Servo No Servo Name
which is used to step down the DC voltage. This module
1 D1 Servo 1 Base Rotation
has an input voltage range between 4V to 38V DC and 2 D2 Servo 2 Elbow 01
output voltage range between 1.25V to 36V DC Rotation
(adjustable using in built regulator). 3 D3 Servo 3 Elbow 02
Its output current is between 0 to 5A and output power is Rotation
75W.It shows efficiency up to 96%. It has built in 4 D4 Servo 4 Gripper
thermal shutdown, control limit function. [15] Rotation
5 D6 Servo 5 Gripper Claw

83
7.2 Working Principle [18]  When the sliders in the GUI is moved its position is
recorded and sent to the NodeMCU board. The
microcontroller Tensilica 32-bit RISC CPU Xtensa
LX106 present in NodeMCU analyses and process
the input signal and send output signals to the
actuators i.e. Servos.
 Thus, the servos receive the signals from the
microcontroller and act according to it.

Figure 20: Working Diagram

NodeMCU can be used to connect to an external server

through internet for sending and receiving data packets.
But this process sometimes have a lot of latency error.
That’s why we have used an alternative and faster way
for sending and receiving data.

In this project we will be hosting a webserver with

ESP8266 by creating an access point.

 In simple terms we have programmed NodeMCU to

act as a server.

 As the webserver is started the serial monitor of the

Arduino IDE will display the IP address.

Figure 21: Serial monitor displaying IP address

 The device through which we want to control the

robot has to be connected to the NodeMCU
webserver using the ssid and password.
 The obtained IP address is then opened in the web
browser of the wi-fi client.
 Through this a HTML based GUI will appear for
controlling the robot.
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Figure 22: Working Flow Chart
7.3 HTML based GUI development
The GUI for robotic arm has been developed using
HTML. This interface is linked to the NodeMCU web
server. It is adaptable and can be opened in both PC as
well as Mobile. Features of this GUI includes slide
controller, angle display and angle display on slider
button.

Figure 23: Html based GUI
8 RESULT AND DISCUSSION
8.1 Developed robotic arm as designed
The robotic arm has been successfully designed which is
capable of working on lighter loads. The home and
working positions of the robotic arm have both been
shown in the figure below. The gripping activity, where
the arm is capable of holding the objects has been shown
in the figure as well. The robotic arm is moving and
functioning smoothly and is doing justice to the task
assigned to it. Wirelessly the desired outputs are received
without any lags. Circuit used in the arm for its
successful operation has also been shown clearly in the
image attached. This model has been made after
adequate stress strain analysis on ANSYS software.
Figure 24: Robotic Arm in home position
Figure 25: Robotic Arm in working position
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Figure 26: Robotic Arm gripping the work
Figure 27: Circuit used in the project
9 CONCLUSION
All the objectives of this project have been achieved as
per the methodology. We successfully manufactured a
lightweight Wi-Fi controlled robotic arm. The
manufactured product is almost similar to the CAD
Design. All the parts sustained during analysis. Latency
error has been found but very less compared to Bluetooth
control. While testing the 2-finger gripper was able to lift
weight more than 150 g. It has been observed that as the
voltage increased lifting capability of the servos was
increased. All the servos gave excellent toque when the
voltage was between 6-6.8 V. The HTML based GUI can
be reprogrammed as per user requirement. Thus, this
project shows that implementing Wi-Fi control system to
the articulated robotic arm is beneficial.
This project has allowed us to apply all the
things which we learned from our classroom practically
and has developed a keen in the field of robotics.
For future development this robotic arm can be
programmed for remote area control. Sensors such as
pressure sensor can be incorporated for smooth material
handling of gripper. The aesthetics of GUI can be
improved by implementing CSS.
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