2019 5th International Conference on Advanced Computing & Communication Systems (ICACCS)

Design and Fabrication of 6-axis Gesture

Controlled Robot
Vignesh T*., Nivetha R., Mowneka G., Selvakumar D*
Department of Mechatronics & Department of Electronics and Communication Engineering
Sri Krishna College of Engineering and Technology, Coimbatore-44
*vignesh.tamilarasun@gmail.com, sivaselva.ec@gmail.com

Abstract— In this paper, a six-axis robot which can be
controlled by gestures is fabricated. The robot has six
degrees of freedom and is easily accessible since the robot
does not need higher efforts of controlling. A human hand
glove is integrated with transceiver and flex sensors, the
resistance variation of the flex sensor is transmitted to the
robot axis. Based on the variation the robot can rotate
angular or in a linear manner about its axis. A simple
transceiver is used in order to control the signals which are
sent and received between the robotic arm and the human
hand. Arduino programming is used for controlling the
system.
Keywords— six-axis robot; a transceiver; Arduino.
I.INTRODUCTION
Nowadays, with the help of various electronic gadgets around
us, the different tasks can be performed and can be easily
controlled using remote systems. Such an emerging field is the
gesture control. In order to control a machine using gestures,
greater skills are not required. The basic operations are
required such as movement of hands and control bots. The six-
axis robots are designed similar to the human action under the
glove. The six-axis robot is used to pick and place the objects
or can be used to draw or even write. In this work, the
prototype of the six-axis robot is fabricated and controlled
using the gesture. The Arduino controller used to control the
robot. Transmitter and receiver are used for transmission of
signals. The servomotor is used to drive the motors that are
fitted inside of the arm. A flex sensor is used to acquire the
hand motion and it is converted into resistance variances, the
resistance value is being sent through the transmitter. On the
receiver end, each motion is connected to the independent axis
that is rotated based on the resistance value. The six-axis robot
can be implemented in agricultural sectors, where human
resources are being minimized [1]. The EMA(Experimental
modal analysis) of a six axis robotic arm within its workspace
is performed by operation the arm and measuring the
response[2].The movement of the human hand is detected
using vision based interaction techniques. The entire setup is
controlled using a Raspberry pi[3]. Kinect v2 has sensors,
which can be used in recognition of body movement. It I a
computer vision based technology which is used to control the
7 degree industrial robot [4]. But practical applications are still
in the primary phase. An optical tracker is used instead of laser
trackers to analyse the dynamic path accuracy of a six-axis
robot [5]. Integration of robotic arm with six-axis robot which
helpful in medical operation and industrial heavy vehicle
lifting, etc., [6]. In simple gesture control car robots, the
accelerometer can directly use hand gestures to control robots
[7].
II.RELATED WORK
Increase in the demand for assistant robots led to the
fabrication of feeding robots which can be used to feed the
elderly and physically or mentally challenged people. The
assistance of a six-axis robot is provided by controlling the
position of the JOINTS [8,9]. The advancement of the assistant
is done by controlling the device using eye movement.A web
camera is fixed to the robotic arm and the unit includes a
display and a computer. By six-axis robotic arm, water from a
bowl is transferred to glass and soup in a bowl is fed to the
user [10]. The gestures can be recorded using the human hand
tracking system which is performed by an image processing
technique.The tracking system records the different colours
obtained as the result of the hand movements which is
interfaced with the robotic arm [11]. Amputees are the people
who have lost their hands or legs and it can be rectified using
bionic hands or flex controlled robotic arm. Flex controlled
robotic arm is different from bionics and is cheaper. It can
mimic the other arm’s actions without any kind of wires
running on the body [12]. Robotic arms can be controlled with
myoelectric and body signals. The robot can

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 2019 5th International Conference on Advanced Computing & Communication Systems (ICACCS)

be operated safely without contact and can repeat specific grabbing, picking and placing the objects. For opening and
actions [13]. Grippers of the six-axis robot are replaced with closing of the gripper one servo motor is used and the
CNC cutting machines [14]. Man-Machine Interface can be remaining is used for different axis motion. The base is
used for real-time robotics. Man-Machine Interface has a capable of rotating at 180 degrees.
motion capture device that converts analogue to an actuating
signal, thus operate the arm [15]. The high-speed response of
the robotic arm positioning is driven hydraulically. The control
structure of the robotic arm is reported [16].Replication of
human hand is done at low-cost sensors using an articulated
5DOF robotic arm. Potentiometers are used for controlling the
motion of the robotic arm [17]. Stereo vision is used to control
robotic arm. Two cameras are used to detect the robotic arm
movement. Coloured bottle stoppers are used to detect the
colour and position of the six-axis robotic arm and this moves
accordingly [18,19]. Physical therapy is guided using a robotic
arm and the exercise training can be monitored by the
therapists from remote. The robotic arm monitors the position,
movement and other parameters [20]. A miniature robot Figure 1: 3D model of the
performs the action using potentiometers that are mimicked by
a blue-tooth wireless interface [21]. A survey is done on robot B. Forward Kinematics
wheelchairs which consists of robotic arms and performs an Forward kinematics is used to determine the x and y
action such as lifting, feeding and opening the door based on position of the gripper. Table 1 shows the link length of the
the given instruction. The research is focused on assistance gripper of the six-axis robotic arm.
need for elderly people and amputees [22]. Based on ZigBee The position of the gripper can be calculated by, X-position =
technology, humanoid robots are controlled using gestures that
are defined by the user [23]. PIC Micro-controller is used for l1cos(Ө1)+l2cos(Ө1+Ө2)+l3cos(Ө1+Ө2+ Ө3 ) ..[1] Y-position =
controlling the mobile robot. The PIC micro-controller
monitors the finger movement and transmits corresponding l1sin(Ө1) +l2sin(Ө1+Ө2)+l3sin(Ө1+Ө2+ Ө3 ) ..[2]
signals to the robotic unit [24]. Hull algorithm and hull defect
algorithms are used to determine the skin of the hand and
finger count. The end effector gets the input signal and moves Table 1. Six-axis robotic arm-Link length chart
in four directions according to the instruction [25]. The Kinect
sensor can accurately recognize gesture and is used for a Link-1 Link-2 Link-3
humanoid robot which imitates human action [26]. Gesture Length (mm) 145 180 56
images are given to treat and control the signals and enables
Angle (assumption) 30 45 30
the robot to follow the desired action [27].

On substitution of the values of length and angle in the

III. EXPERIMENTAL PROCEDURE equation [1] and [2], we obtain equation [3] and [4] from
which the position and the angle of the gripper is determined.
A. Design of the robotic arm:
To calculate the position of gripper/finger:
A robotic arm is a mechanical arm which performs actions
similar to that of the human hand when programmed and Length of the link, l1 = 145mm =
interfaced. The robotic arm is designed in solid works. The
dimensions are varied based on the design and work volume. 0.145mm l2 =1 80mm = 0.08mm l3 =
An acrylic plastic material is used for fabrication of prototype
56mm = 0.056mm
model. The thickness of the sheet can be varied in accordance
with the need of the user. Based on the calculation and weight
considerations, the motor for the robot is selected. It has six
degrees of freedom. The end effector act as a gripper for

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Angle of the link, Ө1= 30˚ (assumption) Power of first link, P1 = 3.03 ˟ 290.376
= 879.839 KW
Ө2= 45˚ (assumption)
Power of second link, P2 = 3.03 ˟ 367.875
Ө3 = 30˚ (assumption)
= 1114.66 KW

x =145cos(30)+180cos(45+30)+56cos(30+45+30) ..[3] Maximum power = 1114.66 KW

= 125.57+ 46.58
IV.COMPONENTS
= 150.6
a) Accelerometer:
y =145sin(30)+180sin(45+30)+56sin(30+45+30) ..[4] =75 + The accelerometer is an electromechanical device that sense
either static or dynamic forces of acceleration. Static power
77.27 contains gravity, while dynamic power contains vibrations and
movement. The change in power is sensed by the arm are
= 152.27 measured using an accelerometer. The robotic arm is
To calculate force: controlled by using an accelerometer sensor with an artificial
intelligence algorithm. The accelerometer is attached to the
30cos20 ˚= Fsin45 ˚(20cos20 ˚)+Fcos45 ˚ (20sin20 ˚) human arms. The robotic arm performs the actions same as
28.19 = 13.8F + 4.836F that of the gesture simultaneously.
b) Arduino-lilypad:
F = 1.556 lb
F = 6.92 N
Torque calculations:
Torque of gripper, T=F˟l
= 6.92 ˟ 0.065
Torque of gripper, T = 0.4498 Nm

Torque of the first link, T1 = F ˟ l

F =m˟g
= 370 ˟ 9.81
= 3629.7 N
Figure 2: Lilypad-Arduino board
T1 = 3629.7 ˟ 0.08
The Lilypad Arduino board is based on the ATmega168V or
= 290.376 the ATmega328V. The operating voltage is 2.7-5.5 V. It has
Torque of the second link, T2 = F ˟ l total of 14 digital input output pins and the clock speed is 8
MHz. The Lilypad Arduino is powered with adapters or USB.
F =m˟g This Arduino is connected with the accelerometer MPU6065.
= 250 ˟ 9.81 c) Arduino-Uno:
= 2452.5 N Arduino-Uno is based on MicrochipATmega328P. The
T2= 2452.5 ˟ 0.15
operating voltage is 5 V. Arduino uno board has 14 digital
input output pins and the clock speed is 16 MHz. Arduino uno
= 367.875 controller is programmed in such a way that it receives the
decoded signals from the decoder and operates the motor
To calculate power:
driver. It is powered by USB ports.
Power, P1 = Tω
ω = 2 N/60
= (2 ˟ ˟ 29)/60
= 3.03

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Figure 4 represents the simplified block diagram of the robotic

arm. The accelerometer is also connected with the lily-pad
Arduino. The accelerometer senses the vibrations of the hand
gesture and sends the signal to the Arduino and the encoded
signals are sent via the transmitter to the receiver. The receiver
receives the signal which is decoded. The decoded signals are
sent to the Arduino-Uno. The Arduino communicates with the
motor driver about the action whether to lift or rotate and the
motor is operated with respect to the actions of the hand. The
robotic arm imitates the action of the gesture performed. The
six stepper motors are connected to the pulse width modulation
pins of the Arduino-Uno board. Address pins of the encoder
Figure 3: Arduino-Uno board
are grounded.
d) Servo Motor:
Servo motors are used for the operation of the robotic arm. VI. EXPERIMENTAL ANALYSIS
Servo motor has precise control over rotary and linear actuation.
These motors are basically used in case of a closed loop control
system. This motor plays its role in the application of robotic
arm. It has the ability to move in a rotary or linear manner and
can withstand the position precisely.
1] S3003-Servo motor:
There are four s3003 motors in the system. S3003 works with
the speed of 0.23 sec/60° to 0.19 sec/60°. The weight is 37.2g.
The voltage range is around 4.8 v-6 v.
2] SG90-Servo motor:
Two SG-90 servo motors are used in the system. SG-90 works
with an operational speed of 0.1s/60°. The operating voltage is
usually 5v. The weight is only 9grams which the name came
from.
Figure 5: The prototype of the six-axis robotic arm
e) RF- Transmitter and Receiver:
The robot accomplishes the given command accurately and
The RF-transmitter-receiver is used to transmit and receive smoothly. Six-axis robot is possible only if the end factor is
signals between the hand and the robotic arm. The transmitter accurate, relative to the work-piece. The accuracy of
is connected to an encoder which in-turn connected with the manufacturing of mechanical parts of the robot, the accuracy
Arduino board. The MPU6065 accelerometer is connected of assembling the constitutional parts of the robot, the
with Arduino and the Receiver is connected with a decoder
accuracy of electronic systems’ and motion of motors are the
which is connected with the Arduino. A motor driver is
factors that are considered. The accuracy of the robot
connected to the Arduino, which connects the six motors. The
operation is influenced based on the external forces, the
communication is done between the transmitter and the
receiver using the RF module. Parallel data can be used to existing clearance in the system and after assembling the
drive the motors. Transmitter-receiver pair operates at a disassembled robot for repair. The speed of the motor can be
frequency of 434MHZ. controlled. The hand movements can be detected and the
motion is effected relatively.
V. BLOCK DIAGRAM OF THE SYSTEM

VII. CONCLUSION
In this project, the design and fabrication of a 6- axis robotic
arm is developed by a simple mechanism. The six-axis robot
works with the gestures of the hand. Today, technology is
developing in the same direction in the line with rapidly
increasing human needs. This work of six-axis robotic arm
that makes the life easier.
Figure 4: Block diagram of the system

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VIII. FUTURE SCOPE

The robotic arm is used in the fields like industries, medical,
military. Elimination of stress monitoring in human operation
on systematic working to achieve the desired production in
the industry in future. Future surgeons can control a robotic
arm which assists the doctor or imitates his actions. The
doctor can command to display images during operation.
Need for automation and decline in the cost make robotic
industry to bloom.

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