SYMBIOSIS INSTITUTE OF TECHNOLOGY, PUNE

DEPARTMENT OF ROBOTICS AND AUTOMATION

MTech – Robotics and Automation (2022-24)
Semester –1st
Industrial Robotics Lab: Mini Project Workflow
Sr No. Name Prn No.
1 Trushant Ankush Patil 22070148007

2 Rahul Goraksha 22070148009

3 Sarthak Navnath shinde 22070148012

Topic: Robot Arm That Mimics Arm Movements.

Aim: To Design and Manufacture of Robotic Arm which is operated by arm movement.
Components & Bill of Material:
Sr Components Name Quantity Cost
No.
1 Linear hall effect sensor 1 50
2 Flat magnet Set 1 299
3 Servo MG996R 4 1600
4 Ball bearings 8mm outer 3mm inner diameter set 1 620
5 Servo MG90S 2 642
6 16-Channel 12-bit PWM/Servo Driver I2C interface PCA9685 1 370
for Arduino Raspberry Pi
7 Wemos D1 Mini ESP8266 1 399
8 5v 10a Switching Power Supply 1 300
9 GY-511 acceleration sensor module 1 499
10 GY-521 acceleration sensor module 2 438
11 REES52 2 Pcs 6 * 8CM 1.6mm 2.54mm Pitch Double-Side 1 219
Prototype PCB Universal Printed Circuit Board
12 Breadboard 1 140
13 Male-Female Jumper Wire Set 2 538
14 Pin header Set 1 249
Totals cost of Project ₹. 6363/-

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 SYMBIOSIS INSTITUTE OF TECHNOLOGY, PUNE
DEPARTMENT OF ROBOTICS AND AUTOMATION
MTech – Robotics and Automation (2022-24)
Semester –1st
Description:
The robot arm project is a proof of concept if a simple 3D-printed drive by affordable servo motors
can be controlled by accelerometers and a magnetometer attached to the controlling person’s arm. The
person needs to learn using any input devices just perform the movement that should be reflected by
the robot. A use case could be to perform manual tasks remotely in inaccessible or dangerous areas
such underwater projects, medical applications, etc.
Sensors:
There are four sensors used. Three of these are responsible for the arm movements and one for the
gripper. The servos in the upper, lower arm and the wrist are capable of measuring the acceleration.
Additionally, the digital compass of the sensor at the wrist is used. The accelerometers measure the
orientation of the limbs relative to the gravity vectors. These orientations determine the angles of the
servo motors.

Since regular movement also creates acceleration the trajectory of the robot arm will differ at higher
movement speeds. The magnetometer (compass) is used to measure the arm yaw. The measured
position on the start-up of the microcontroller is measured and taken as the reference forward
direction later. The compass vector is taken at the wrist and applied to a shoulder servo which rotates
the complete arm.

Since the orientation of the wrist sensor needs to be subtracted from the compass vector to get the
absolute world orientation, all transformations from shoulder to wrist are back transformed using
matrices. This happens in the calculate Angles method of the sketch.
Wiring Diagram:

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 SYMBIOSIS INSTITUTE OF TECHNOLOGY, PUNE
DEPARTMENT OF ROBOTICS AND AUTOMATION
MTech – Robotics and Automation (2022-24)
Semester –1st
Almost all communication is done using I²C. To be able to address two GY-521 sensors at once they
have two different addresses assigned by wiring either GND or VCC to the ADD pin of the sensor
boards.
The I²C is a bit limited in signal strength. You might want to add additional pull-up resistors to SDA
and SCL. All sensor boards are powered by 5V since they have their own 3.3V regulators. The GY-
511 board I am using also has a 3.3V pin which changes the pin order. be careful to connect the right
pin to 5V if you are building an adapter board like me.
The power supply that's connected to the PWM board screw connectors should be able to apply
several amps since quite some forces can occur with 6 active servos. Your USB will be overloaded for
sure if you don't use an additional supply.

Objectives:
This project shows a 3D printed robot arm that mimics your arm movements. The arm motion is
sensed using accelerometers and a digital compass.