PROJECT REPORT ON

4-D.O.F ROBOTIC MANIPULATOR

(Robotics and Automation Engineering)
By

AMAL RASHEED 12212482

DURVESH SURESH 12210968
DIPANWITA SAHA 12207156
PROJECT GROUP NO. :

Under the Guidance of

School of Electronics and Communication Engineering

Lovely Professional University, Phagwara, Punjab-144411

i|Page
 CERTIFICATE
This is to certify that AmalRasheed, Durvesh Suresh, Dipanwita Saha bearing registration
number 12212482, 12210968 and 12207156respectively have completed objective formulation of
Capstone project titled “4-D.O.F MANIPULATOR” under my guidance and supervision. To
the best of our knowledge, the present work is the result of their original investigation and study.
No part of the Capstone has ever been submitted for any other degree at any university.

The Capstone project is fit for submission and the fulfillment of the condition for the award of
the degree Bachelors of technology (Electronics & Communication Engineering).

Signature
Department of Electronics and Communication Engineering
Lovely Professional University
Phagwara, Punjab – 144411

Date:

ii
 ACKNOWLEDGEMENT

We take this opportunity to present my votes of thanks to all those guidepost who really acted as
lightening pillars to enlighten our way throughout this project that has led to successful and
satisfactory completion of this study. It was very exciting for us to work on the project of ‘4-
D.O.F-ROBOTIC MANIPULATOR. During this work we have gained both practical as well as
theoretical knowledge of great significance.

We are highly obliged and thankful to our institute ‘Lovely Professional University’ and its
management and technical staff for its support and cooperation.

We are highly thankful to our mentor for his active support, valuable time and advice, whole-
hearted guidance, sincere cooperation and pains-taking involvement during the study and
completing the assignment of preparing the said project within the time stipulated.

Lastly we are thankful to all those particularly various friends who have been instrumental in
creating proper, healthy and conductive environment and including new and fresh innovative
ideas for us during the project, without their help, it would have been extremely difficult for us to
prepare the report in time bound framework.

This project has made us push our boundaries, think about the problems in our surroundings and
finally create an ultimate solution for the people of all age by easing their lives through vast
applications of embedded systems.

Amal Rasheed(12212482)
Durvesh Suresh (12210968)
Dipanwita Saha (12207156)

iii
 DECLARATION

We AmalRasheed,DurveshSuresh,DipanwitaSaha students of Bachelor of Technology under

Department of Electronics and Communication Engineering of Lovely Professional University,
Phagwara, Punjab, hereby declare that all the information furnished in this Capstone project
report is based on our own intensive research and is genuine.

This Capstone contains part of our work which has been submitted for the award of my Degree
of Bachelors of Technology under the department of Electronics and Communication
Engineering from this University. This is to certify that the matter embodied in this project work
has not been submitted earlier for award of any degree to the best of our belief.

Date:

Name Registration No Signature

Amal Rasheed 12212482

Durvesh Suresh 12210968
Dipanwita Saha 12207156

iv
 ABSTRACT

.
A 4 Degree of Freedom (DOF) robotic arm has been developed. It is controlled by an
Arduino Uno microcontroller which accepts input signals from a user by means of a set of
potentiometers. The arm is made up of four rotary joints and an end effector, where rotary
motion is provided by a servomotor. Each link has been first designed using sanboard sheet
for making it more economical. The servo-motors and links thus produced assembled with
fasteners produced the final shape of the arm. The Arduino has been programmed to provide
rotation to each servo motor corresponding to the amount of rotation of the potentiometer
shaft.The robotic arm is connected to a Bluetooth module so that it can be controlled using
external devices like mobile phone through Bluetooth.

v
 TABLE OF CONTENT
CHAPTERS

Chapter 1: INTRODUTION OF PROJECT

1.1 Objective.
1.2 Components used in project
1.3 Scope of work

Chapter 2: PROJECT TECHNOLOGIES

2.1 Robotics Technology

2.1.1 Characteristics of Robotics Technology
2.2 Software Technology
2.2.1 Arduino IDE

Chapter 3: DESCRIPTION OF TOOLS USED

ARDUINO UNO

Technical Specifications

Pin Functions

Breadboard

Servo Motor(MG995)
Mechanism
Technical Specifications

vi
JumperWire
DC Motor

Lithium Ion 1200Mah Battery

Rack and Pinion

Chapter 4: CONCLUSION AND FUTURE SCOPE

Future Scope
Conclusion

vii
 CHAPTER 1: INTRODUCTION TO PROJECT

Robotics being a branch involves the duo of the science and engineering that contains the regions of
mechanics, electrical engineering, computers programming, electronics as well as others. It indulges in
the operations of construction, designing, organization of computer systems for the robotic control,
sensory feedback and processing of the information. The aforementioned technology are utilized to
develop machines that acts as replacements for human activities and hardships. The main aim of
robotics would be to implement their action in environment and areas that aren't suitable to humans
and to create the human life simple through tracking the day to day tasks.
This robotic arm can be used to pick up things and to place in a different place .this is a miniature version of
robotic arm the industrial version of robotic arm can be used to do inhume taks that can be made easy.

1|Page
 1.1 OBJECTIVE

Robotic arms can be used to automate the process of placing goods or products onto pallets.
By automating the process, palletizing becomes more accurate, cost-effective, and
predictable. The use of robotic arms also frees human workers from performing tasks that
present a risk of bodily injury.

1.2 COMPONENTS USED

• Arduino UNO board

• Breadboard
• Bluetooth Module
• Jumper Wire
• DC Motor
• MG995 Servo
• Breadboard
• Li-Ion Battery 1200Mah
• PCA 685-16 Channel
• Jumper Wire
• Rack and Pinion
• Gripper

1.3 SCOPE OF WORK

Robotic Arms have a wide scope of development. Shortly the arms will be able to perform every task
as humans and in a much better way. Brain Computer Interface can be used to acquire signals from
the human brain and control the arm. The system can work in the same way as a human arm.

CHAPTER 2: PROJECT TECHNOLOGY

2.1 ROBOTICS TECHNOLOGY
Robotics is an interdisciplinary branch of engineering and science that includes mechanical
engineering, electrical engineering, computer science, and others. Robotics deals with the design,
construction, operation, and use of robots, as well as computer systems for their control, sensory
feedback, and information processing. In other words Robotics is a branch of engineering that involves
the conception, design, manufacture, and operation of robots. This field overlaps with electronics,
computer science, artificial intelligence, mechatronics, nanotechnology and bioengineering.

These technologies are used to develop machines that can substitute for humans and replicate human
actions. Robots can be used in any situation and for any purpose, but today many are used in dangerous
2
environments (including bomb detection and de-activation), manufacturing processes, or where
humans cannot survive. Robots can take on any form but some are made to resemble humans in
appearance. This is said to help in the acceptance of a robot in certain replicative behaviors usually
performed by people. Such robots attempt to replicate walking, lifting, speech, cognition, and basically
anything a human can do. Many of today's robots are inspired by nature, contributing to the field
of bio-inspired robotics.The concept of creating machines that can operate autonomously dates back
to classical times, but research into the functionality and potential uses of robots did not grow
substantially until the 20th century. Throughout history, it has been frequently assumed that robots will
one day be able to mimic human behavior and manage tasks in a human-like fashion. Today, robotics
is a rapidly growing field, as technological advances continue; researching, designing, and building
new robots serve various practical purposes, whether domestically, commercially, or militarily. Many
robots are built to do jobs that are hazardous to people such as defusing bombs, finding survivors in
unstable ruins, and exploring mines and shipwrecks. Robotics is also used in STEM (science,
technology, engineering, and mathematics) as a teaching aid.

3|Page
 2.2 SOFTWARE TECHNOLOGY

2.2.1 ARDUINO IDE

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. The project's products are distributed as open-source hardware and software, which are licensed
under the GNU Lesser General Public License (LGPL) or the GNU General Public
License (GPL) permitting the manufacture of Arduino boards and software distribution by anyone.

Arduino board designs use a variety of microprocessors and controllers. The boards are equipped with
sets of digital and analog input/output (I/O) pins that may be interfaced to various expansion boards
or Breadboards (shields) and other circuits. The boards feature serial communications interfaces,
including Universal Serial Bus (USB) on some models, which are also used for loading programs from
personal computers. The microcontrollers are typically programmed using a dialect of features from
the programming languages C and C++.

4
.

CHAPTER 3: DESCRIPTION OF COMPONENTS USED

HARDWARE TOOLS USED

This project is implemented using ArduinoUNO board ,Breadboard, Bluetooth Module,

JumperWire, DC Motor, MG995 Servo, Lithium-Ion battery, PCA1685-16 Channel, Jumperwire,
Sunboard, Rack and Pinion, Gripper

ARDUINO UNO

The Arduino UNO is a widely used open-source microcontroller board based on

the ATmega328P microcontroller and developed by Arduino.cc. The board is equipped with sets of
digital and analog input/output (I/O) pins that may be interfaced to various expansion boards and other
circuits. The board features 14 Digital pins and 6 Analog pins. It is programmable with the Arduino
IDE(Integrated Development Environment) via a type B USB cable. It can be powered by a USB cable
or by an external 9 volt battery, though it accepts voltages between 7 and 20 volts. "Uno" means one
in Italian and was chosen to mark the release of Arduino Software (IDE) 1.0. The ATmega328 on the
Arduino Uno comes preprogrammed with a bootloader that allows to upload new code to it without the
use of an external hardware programmer. It communicates using the original STK500 protocol.

Technical Specifications

 Microcontroller: ATmega328P
 Operating Voltage: 5v
 Input Voltage: 7-20v
 Digital I/O Pins: 14 (of which 6 provide PWM output)
 Analog Input Pins: 6
 DC Current per I/O Pin: 20 mA
 DC Current for 3.3V Pin: 50 mA
 Flash Memory: 32 KB of which 0.5 KB used by bootloader
 SRAM: 2 KB
5|Page
 Clock Speed: 16 MHz

Figure 1: PIN DIAGRAM OF ARDUINO UNO BOARD

Pin Functions

 LED: There is a built-in LED driven by digital pin 13. When the pin is HIGH value, the LED is
on, when the pin is LOW, it's off.
 VIN: The input voltage to the Arduino/Genuino board when it's using an external power source (as
opposed to 5 volts from the USB connection or other regulated power source). You can supply
voltage through this pin, or, if supplying voltage via the power jack, access it through this pin.
 5V: This pin outputs a regulated 5V from the regulator on the board. The board can be supplied
with power either from the DC power jack (7 - 20V), the USB connector (5V), or the VIN pin of the
board (7-20V). Supplying voltage via the 5V or 3.3V pins bypasses the regulator, and can damage
the board.
 3V3: A 3.3 volt supply generated by the on-board regulator. Maximum current draw is 50 mA.
 GND: Ground pins.

6
 JUMPER WIRE

Jumper Wire is an electrical wire, or group of them in a cable, with a connector or pin at each end (or
sometimes without them – simply "tinned"), 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
Individual jump wires are fitted by inserting their "end connectors" into the slots provided in a breadboard,
the header connector of a circuit board, or a piece of test equipment.

7|Page
SERVO MOTOR

A servomotor is a rotary actuator or linear actuator that allows for precise control of angular or linear
position, velocity and acceleration. It consists of a suitable 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. Servomotors are not a specific class of motor although the
term servomotor is often used to refer to a motor suitable for use in a closed- loop control system.
Servomotors are used in applications such as robotics, CNC machinery or automated manufacturing.

Figure 4: A SERVO MOTOR

8
Mechanism

It is a closed loop servomechanism which uses position feedback to control its motion and
final position. The analog or digital input signal is provided to represent the position
commanded for the output shaft. A type of encoder is paired with the motor to provide
position feedback and speed feedback. The outputs position is measured and compared to
the command position which is the external input of the controller. If there is any deviation
an error signal is generated which rotates the motor either sides, as the required position is
achieved the error signal nullifies and motor stops rotating.

Servo motors are used as the high-performance motors providing a better alternative
compared to the stepper motor. Stepper motor has ability to control position having the
built-in output steps which is often open loop position control system, without having any
feedback control system. The lack of feedback limits the performance of the stepper motor
and hence the servo motor is widely used which is in the favor of feedback.

Figure 5: GEAR MOUNTING OF SERVO MOTOR

9|Page
 Technical Specifications

 Speed: 0.12sec/60degrees (4.8V) 0.10sec/60degrees (6.0V)

 Torque: 1.5kgf-cm (4.8V) 2.0kgf-cm (6.0V)
 Voltage: 4.8V-6.0V
 Connector type: JR type (Yellow: Signal, Red: VCC, Brown: GND)

LITHIUM-ION BATTERY

lithium-ion or Li-ion battery is a type of rechargeable battery which uses the

reversible reduction of lithium ions to store energy. It is the predominant battery type used in
portable consumer electronics and electric vehicles. It also sees significant use for grid-scale energy
storage and military and aerospace applications. Compared to other rechargeable battery technologies, Li-
ion batteries have high energy densities, low self-discharge, and no memory effect (although a small
memory effect reported in LFP cells has been traced to poorly made cells).Lithium-ion batteries can be a
safety hazard if not properly engineered and manufactured since cells have flammable electrolytes and if
damaged or incorrectly charged, can lead to explosions and fires. Much development has made progress in
manufacturing safe Lithium-ion batteries. 

10
 DC MOTOR

A DC motor is any of a class of rotary electrical motors that converts direct current (DC) electrical energy
into mechanical energy. The most common types rely on the forces produced by induced magnetic fields
due to flowing current in the coil. Nearly all types of DC motors have some internal mechanism, either
electromechanical or electronic, to periodically change the direction of current in part of the motor.
DC motors were the first form of motors widely used, as they could be powered from existing direct-current
lighting power distribution systems. A DC motor's speed can be controlled over a wide range, using either a
variable supply voltage or by changing the strength of current in its field windings. Small DC motors are
used in tools, toys, and appliances. 

Working Principle
A coil of wire with a current running through it generates an electromagnetic field aligned with the
center of the coil. The direction and magnitude of the magnetic field produced by the coil can be
changed with the direction and magnitude of the current flowing through it.

A simple DC motor has a stationary set of magnets in the stator and an armature with one or more
windings of insulated wire wrapped around a soft iron core that concentrates the magnetic field. The
windings usually have multiple turns around the core, and in large motors there can be several parallel
current paths. The ends of the wire winding are connected to a commutator. The commutator allows
each armature coil to be energized in turn and connects the rotating coils with the external power .

11 | P a g e
 The total amount of current sent to the coil, the coil's size and what it's wrapped around dictate the

WORKING OF A DC MOTOR
strength of the electromagnetic field created.

The sequence of turning a particular coil on or off dictates what direction the effective electromagnetic
fields are pointed. By turning on and off coils in sequence a rotating magnetic field can be created.
These rotating magnetic fields interact with the magnetic fields of the magnets (permanent
or electromagnets) in the stationary part of the motor (stator) to create a force on the armature which
causes it to rotate. In some DC motor designs the stator fields use electromagnets to create their
magnetic fields which allow greater control over the motor.

Rack and Pinion

 rack and pinion is a type of linear actuator that comprises a circular gear  (the pinion) engaging a linear
gear (the rack). Together, they convert rotational motion into linear motion. Rotating the pinion causes the
rack to be driven in a line. Conversely, moving the rack linearly will cause the pinion to rotate. A rack and
pinion drive can use both straight and helical gears. Though some suggest helical gears  are quieter in
operation, no hard evidence supports this theory. Helical racks, while being more affordable, have proven to

12
increase side torque on the datums, increasing operating temperature leading to premature wear. Straight
racks require a lower driving force and offer increased torque and speed per percentage of gear ratio which
allows lower operating temperature and lessens viscal friction and energy use. The maximum force that can
be transmitted in a rack and pinion mechanism is determined by the tooth pitch and the size of the pinion as
well as the gear ratio.

BREAD BOARD

A breadboard is a construction base for prototyping of electronics. Originally it was literally a bread
board, a polished piece of wood used for slicing bread. In the 1970s the solderless breadboard became
available and nowadays the term "breadboard" is commonly used to refer to these. Because the
solderless breadboard does not require soldering, it is reusable. This makes it easy to use for creating
temporary prototypes and experimenting with circuit design. For this reason, solderless breadboards
are also extremely popular with students and in technological education. Older breadboard types did
not have this property. A stripboard and similar prototyping printed circuit boards, which are used to
build semi-permanent soldered prototypes or one-offs, cannot easily be reused. A variety of electronic
systems may be prototyped by using breadboards, from small analog and digital circuits to complete
central processing units.

13 | P a g e
Bluetooth Module
Bluetooth module (Bluetooth module) refers to the basic circuit set of the chip with integrated Bluetooth
function, used for short-range 2.4G wireless communication module. For the end user, the Bluetooth
module is a semi-finished product. Through the process of functional redevelopment and packaging of the
shell based on the module, the final product capable of utilizing Bluetooth communication is realized.
The Bluetooth module is divided into two types according to the application and support protocol: classic
Bluetooth module and low-power Bluetooth module.

Code Used
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pca9685 = Adafruit_PWMServoDriver();

#define SERVOMIN 150

#define SERVOMAX 600

uint8_t servonum = 0;
uint8_t numberOfServos = 2;

char receivedChar=0;

int S0_pos, S1_pos, S2_pos;

int S3_pos;
int pwm0,pwm1,pwm2,pwm3;
int ENA = 13;
int IN1 = 3;
14
int IN2 = 4;
void setup() {
char receivedChar=0;
Serial.begin(9600);
pca9685.begin();
pca9685.setPWMFreq(60);
delay(10);
}

void loop() {
if (Serial.available()>0){
receivedChar = Serial.read();
Serial.print(receivedChar);
Serial.print("\n");
}
if(receivedChar == 'a')
{
if(S0_pos < 180){
S0_pos += 10;
pwm0 = map(S0_pos, 0, 180, SERVOMIN, SERVOMAX);
// Write to PCA9685
pca9685.setPWM(0, 0, pwm0);

Serial.println(S0_pos);//write on serial monitor

receivedChar = ' ';
}
}
if(receivedChar == 'b')
{ if(S0_pos > 0){
S0_pos -= 10;
pwm0 = map(S0_pos, 0, 180, SERVOMIN, SERVOMAX);
// Write to PCA9685
pca9685.setPWM(0, 0, pwm0);

Serial.println(S0_pos);//write on serial monitor

receivedChar = ' ';
}

15 | P a g e
}
if(receivedChar == 'c')
{ if(S1_pos < 180){
S1_pos += 10;
pwm1 = map(S1_pos, 0, 180, SERVOMIN, SERVOMAX);
// Write to PCA9681
pca9685.setPWM(1, 0, pwm1);

Serial.println(S1_pos);//write on serial monitor

receivedChar = ' ';
\
}
}
if(receivedChar == 'd')
{ if(S1_pos > 0){
S1_pos -= 10;
pwm1 = map(S1_pos, 0, 180, SERVOMIN, SERVOMAX);
// Write to PCA9685
pca9685.setPWM(1, 0, pwm1);

Serial.println(S1_pos);//write on serial monitor

receivedChar = ' ';

}
if(receivedChar == 'e')
{
if(S2_pos < 180){
S2_pos += 10;
pwm2 = map(S2_pos, 0, 180, SERVOMIN, SERVOMAX);
// Write to PCA9685
pca9685.setPWM(3, 0, pwm2);

Serial.println(S2_pos);//write on serial monitor

receivedChar = ' ';

}
16
}
if(receivedChar == 'f')
{
if(S2_pos > 0){
S2_pos -= 10;
pwm2 = map(S2_pos, 0, 180, SERVOMIN, SERVOMAX);
// Write to PCA9685
pca9685.setPWM(3, 0, pwm2);

Serial.println(S2_pos);//write on serial monitor

receivedChar = ' ';

}
if(receivedChar == 'g')
{ if(S3_pos < 126){
S3_pos += 5;
pwm3 = map(S3_pos, 0, 180, SERVOMIN, SERVOMAX);
// Write to PCA9685
pca9685.setPWM(4, 0, pwm3);

Serial.println(S3_pos);//write on serial monitor

receivedChar = ' ';

}
}
if(receivedChar == 'h')
{ if(S3_pos > 79){
S3_pos -= 5;
pwm3 = map(S3_pos, 0, 180, SERVOMIN, SERVOMAX);
// Write to PCA9685
pca9685.setPWM(4, 0, pwm3);

Serial.println(S3_pos);//write on serial monitor

receivedChar = ' ';
17 | P a g e
}

}
if(receivedChar == 'i')
{

digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(ENA, 150);
delayMicroseconds(10);
analogWrite(ENA, 0);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);

receivedChar = ' ';

}
if(receivedChar == 'j')
{

digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(ENA, 150);
delayMicroseconds(10);
analogWrite(ENA, 0);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);

receivedChar = ' ';

}
}

18
Embody of Robotic arm

19 | P a g e
 CHAPTER 4: CONCLUSION AND FUTURE SCOPE
4.1 CONCLUSION

Overall, the objectives of this project have been achieved which are developing the
hardware and software for wireless mobile robotic arm, implementing the pick and place
system operation and also testing the robot that meets the criteria of purpose project. From
the analysis that has been made, it is clearly shows that its movement is precise, accurate,
and easy to control and user friendly. The mobile robot has been developed successfully as
the movement of the robot including mobile and arm robot can be controlled wirelessly.
This robot is expected to overcome the problem such as placing or picking object that away
from the user, pick and place hazardous object in the fastest and easiest way

4.2 FUTURE SCOPE

Robotic Arms have a wide scope of development. Shortly the arms will be able to perform
every task as humans and in a much better way. Brain Computer Interface can be used to
acquire signals from the human brain and control the arm. The system can work in the same
way as a human arm

20
REFERENCES
1. https://www.arduino.cc/en/Guide/ArduinoUno
2. http://www.nodemcu.com/index_en.html
3. https://www.edgefx.in/servo-motor-types-and-working-principle/
4. https://www.globalspec.com/learnmore/flow_control_flow_transfer/pumps/dc_pumps
5. https://www.lithiumion-batteries.com/products/12v-100ah-lithium-ion-battery/
6. https://wiki.eprolabs.com/index.php?title=Moisture_Sensor
7. http://www.instructables.com/id/Arduino-2-Channel-Relay/
8. http://www.instructables.com/id/L293D-Motor-Driver/
9. https://electronicsforu.com/resources/learn-electronics/7805-ic-voltage-regulator
10. http://www.agribots.com

21 | P a g e