ROBOTIC ARM DESIGN
KINEMATIC ANALYSIS OF A ROBOTIC MANIPULATOR WITH 4 DEGREES OF FREEDOM
Akshay Thakur | Oreoluwa Adediwura | Oluwaseun Fetuata
Abstract
For decades, robotics has been recognized in the
field of industrial automation. Its foundations are
found in a variety of technical and scientific fields,
including computer, cognitive, and social sciences
as well as mechanical, electrical, and electronics
engineering. Through relentless improvement and
innovation, its applications have spanned through
various industries including medicine, automobile,
manufacturing, and many more.
This project's goal is to replicate and improve the
interactivity for managing a robotic arm in a
simulated programming environment using Python
by running a Python program to allow users to
interact with the real world and make the entire
process friendlier. The control system would be
used to control a robot arm to pick an object from a
position and place it in a new position.
The identical virtual control configuration will be
running in a virtual world along with an entire
robotic arm hardware gear. The user interacts with a
virtual setup that we will develop using Python in
order to engage with a real-world arrangement. This
is built and developed to manage the arm's motion
in actual life.
Introduction
Project RAD is anticipated to record and automate
any number of positions in a python program while
simultaneously mastering the many abilities
outlined in this proposal. Simple components and
tools, including micro servos, resistors, LEDs, jump
wires, and 3D printing, were used to create this
robot arm.
Through a computer's graphical user interface that
would be developed using python, you may
command the arm by sending commands to the
Arduino, which manages the arm. Each servo is
controlled by sliders, and there are buttons
programmed for recording positions and replaying
previously recorded settings. Past recordings can
also be saved and accessed.
The closed solution, which offers joint angles for
the location of the elbow while positioning the
robot's hand, is used to solve the robot's kinematics.
The process would be managed by a PLC with a
start and stop push button.
Ideal practical applications for this project include
but are not limited to;
 Garbage collection
 Mail Box /office /warehouse
 Lift objects and transport them.
 Color detection and matching
 Office application.
Objective 
1. Design, construct, and develop python
controlled robotic arm capable of handling and
lifting that can be controlled by a python
program
2. Apply the program & code to the similarly
constructed robotic arm
3. Understand and apply practical DH
representation of the robotic arm.
4. Solidworks & CAD design & application.
5. Design For Manufacturing (3D Printing).
Methodology
Project Scope
1. Project Design - Free body diagram, 3D
Computer-aided design, DH Representation
2. GUI & Arm Code – GUI development with
python, servo codes development.
3. Electrical and mechanical connections –
Breadboard, microcontrollers, computers
4. Software & Hardware Interface –
Microprocessor custom settings, program
development.
The robot system consists of various building
blocks;
1. Arduino UNO (Micro Controller)
2. Normal Sized Servo
3. SG90 Micro-servo motor
4. Breadboard (generic)
 5. Power Supply
6. 3D Printed Arm
DH Representation of Project Model
This is a DH representation of a manipulator of 4
degrees of freedom. The revolute joint rotates along
the Z0 axis at theta 1 deg. Committed to this is
another revolute joint that rotates about the z1 axis
at an angle of theta 2. Connected to the previous
joint in horizontal orientation is another revolute
joint rotating around the axis z2 with an angle of
rotation of theta 3. The Last revolute joint
connected to the previous joint has an axis of
rotation along z3 with an angle of rotation of theta
4. Connected to this revolute joint is an end effector
whose axis of rotation is along x3 with a
translational motion. Its axis of movement is z3.
System Architecture.
In this project, we make careful considerations
regarding the colour mapping from the motor to the
microprocessor while using o.2mm breadboard
wires. The servo has three wire connections at first:
red, black, and yellow. The red and black wires go
to the breadboard. Red being the positive and black
being the negative. The breadboard is where the red
and black wires are connected. A positive colour is
red, and a negative color is black. The yellow cable
is connected to the microprocessor. Wires are
attached to the microprocessor by following the
numbers in the created code to establish
connections. There are 50 pins in the Arduino mega
2560 microprocessor. The yellow pins from the
microprocessor are connected to the precise number
when following the code. The breadboard receives a
5-volt power supply. The computer and micro-
processor are connected through a USB cable to
transmit commands for motor movement.
The Schematic below represents the robotic system
architecture.
Wiring Schematics
Python GUI Controller
We program the microprocessor with the Arduino
code for the robot arm. After the upload is
complete, we incorporate Python code to build a
straightforward GUI for operating the robotic arm
and recording motion.
Operational Procedure
Define the port – The connection entry point is
defined and registered for this input
Send/record position - The robot movement is
initiated through the GUI containing controls for
angular positions ranging between 0-180 degrees.
Then Sent on click on the record position button in
the GUI.
Play position - The given input for the positions are
sent to the microcontroller which processes the
information and relays instructions to the motors.
The motors rotate according to the input which
changes the position of the robot’s joints.
Save Position - The GUI program is equipped with
the ability to store progressive movements and
replay them at a later time.
Clear Position - This acts as a format command to
reset previously registered positions.

Results & Discussion Refferences

Mechanics - A 3D drawing of the model was made
successfully and sent for printing. Below is the
result of the iterated design.

Appendices
CAD Model Prototype
A functioning mechanism is created by connecting
this to the other elements of our design architecture.
According to the angle input through the GUI, the
system/robot was able to articulate each joint.

Conclusions