The world is evolving into Automation and Robotics which
gives rise to more research and development and production in a rapid rate, as
the human mind is meant to discover and invent but not to do the repeated tasks
which the Robots took control in recent years. Artificial Intelligence came
into existence these days, which taught the Robots to take decisions as per the
required scenario.


            The Paper deals with the “Design and
Development of a Bot with Articulated Arm” which has a wide range of
applications in the growing world of Robotics. The system comprises of 3 parts.

They are Bot with Belt Drive, Articulated Arm with 5 DoF, Flex Controller using
Bluetooth. This Arm can be controlled with wide range of communication devices
such as Radio Control, Bluetooth, Wi-Fi, Wired Joystick, Accelerometers, Flex
Sensors, Internet of Things, Self Programming etc. The Robotic Arm is set up on
a Bot which has terrain capabilities which is also controlled using the same
mode of communication as the Arm.

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            The Flex Sensor is set up on the Gloves,
which are to be worn by the controller/user, which is used to control the Arm
as well as the Bot in which the major mode of communication is Bluetooth. The
different operations performed by the Articulated Arm is to Hold, Pick, Rise,
Rotate and Place / Drop. And the Bot performs Forward, Backward operations and
Rotation using opposing wheel techniques. The End effector being a gripper can
be used in various applications such as to hold a Wi-Fi Camera, which can steam
the video to the devices such as Smart Phones, Tablets, Laptops etc. for
Surveillance, Bring Tablets for Elders, Sample collection from Poisonous places


Bot, Articulated Arm, Flex Sensor.




This Articulated Arm is a Robotic Manipulator, which does
the similar operations, which are done by a human arm with limitations of
degrees of freedom.


The Applications of Robotic Arms are of wider range in
Industries, Home Purposes, Defense, Medical, Transport etc. as these arms are
not affected at conditions which humans are affected, so these can be used in
sites of excavations and poisonous environment where humans can’t reach.   


For every type of application, there is a different type of
approach at which the designer should think of the strength, aesthetics, pay
load capacity, operations performed etc. There are huge variations in the
sizes, motors, materials, structures, DOFs, mode of transport etc. 


In our paper, the Bot and the Robotic Arm are controlled
using an Arduino Mega as Micro Controller; Flex Sensor gives signals to the
Bluetooth Transmitter which is received by the Receiver into Arduino, which
pumps the signal to all the Servo Motors and Gear Motors accordingly to operate
the Articulated Arm and Bot.


The Aim of the design is to perform the pick and place
operation wirelessly in light terrain conditions within a range of distance.


Related Works:


Ardiuno MEGA is programmed in Ardiuno Geniuo software to be operated as
intended to do the operations.


To control the robot using Bluetooth, we created a Android
Mobile Application in the interest of the Movement for the Servo Motors and
Gear Motors to gain specific control over the Robot.


Technical Requirements:


chosen Technical Requirements are of the best knowledge possible for the right
functioning of the bot and arm are as follows:


3.1 Micro

The Ardiuno Mega Micro Controller is the Hardware used for the
controlling of the Servo Motors, Gear Motors and receiving the signal from Flex
Sensors from Bluetooth Module.


3.2 Bluetooth

The Bluetooth Receiver is planted on the Arduino Mega where as
the Bluetooth Transmitter is planted on the Flex Sensor, which receives the
signals from the User.

3.3 Flex

The Flex Sensors gives resistance-based signals, for every
single flex sensor, we control each degree of freedom. The signal can be
controlled accurately as per the level of impulse given.

3.4 Gripper

The End Effector being the Gripper performs the operation to
hold and release using the gear mechanism with single servo motor.

3.5 Camera

VGA Camera that is used in the Surveillance application of the Bot is connected
to the smart phone through Wi-Fi with a frame rate of 15fps, which is reduced
for the sake of long duration video recording in less memory and long battery


Overall Design of the Bot

this paper, the Bot is capable of light terrain, it can climb an inclination of
25 degrees carrying a load of 500 grams. The Articulated Arm with Five Degrees
of Freedom is capable of lifting 500 grams and transporting it.



4.1 Articulated


The Robotic Arm is the important part of the whole system,
which performs the operations of hold and release using gripper and pick and
place using the arm. These Arm and Gripper uses the Servo Motors for the


 The Flex Sensor of the
Thumb Finger of Right Hand is used for the Rotation of the Arm.


The Flex Sensor of the Index Finger of Right Hand is used for
the First Joint, which has two Servo Motors.


The Flex Sensor of the Middle Finger of Right Hand is used for
the Second Joint.


The Flex Sensor of the Ring Finger of Right Hand is used for
the Rotation of the Gripper.


The Flex Sensor of the Thumb Finger of the Left Hand is used
for the Gripper.


4.2 Bot

The Bot is capable of moving at an angle of 25 degrees holding
500 grams. The Bot is the primary mechanism which is holding the arm and
bearing the loads In this paper, we used the belt drive, it can be able to move
in light terrain conditions such as agricultural fields, mud roads etc. for
widening the fields where is it useful. The Gear Motors are high on Torque and
less in Speed, preferred these motors for Terrain conditions and to carry the
pay load.


The Flex Sensor of the Index Finger of Left Hand is used for
the Left Wheels Operation of the Gear Motors.


Flex Sensor of the Middle Finger of Left Hand is used for the Right Wheels
Operation of the Gear Motors.


4.3 Bluetooth


This is the essential part of the communication system where
the whole working of the Bot and Arm are brought into action and which decides
the range of the distance where it can work.


Transmitter: The Flex Sensors are connected to the Transmitter
to transmit the signal from Flex Sensors to Reciever.


Receiver: The Receiver is connected to the Arduino to send the
signals from Transmitter decoded which is used to operate the Servo Motors and
Gear Motors.

Block Diagram of Transmitter End:


Flex Sensors of Right Hand + Flex Sensors of Left Hand à Transmitter à Bluetooth


Block Diagram of Receiver End: 


Bluetooth à
Receiver à
Arduino Mega Micro Processor

Servo Motors àArm

Gear Movement à
Bot Movement


4.4 Camera

The Camera used in this paper is a small VGA camera with a
frame rate of 15 fps where is can share the video to the smart phones using
Wi-Fi network, the video can be recorded into the smart phone itself and can be
shot into photos. Or it can be saved in the camera itself using a Micro SD


          5. References



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