Wireless 4 DOF Robotic Arm Using Mega 2560

B.Harshitha1 , P.Amrutha varshini2 , M.kamalahasan3 ,

1,2
UG Students, 3Guide
Department Of Electronics and Communication Engineering
SITAMS, Chittoor.

ABSTRACT

This project is mainly about a pick and place robotic arm with a design of 4 DOF(degree of liberation) mechanics, it is
utilized in industries, automobiles and shipyards to pick and place the cumbersomely hefty objects from one place to
another place through wireless communication in controlling, verbally expressing with simple tasks such as
prehending, hoisting, placing and relinquishing. In this project arduino mega is utilized to design a pick and place
robotic arm ,via utilizer commands. The robot is controlled utilizing RF predicated on the commands given by the
utilizer, the robot moves accordingly. At the receiver four motors interfaced with the microcontroller, Arduino IDE
application is utilized for controlling of robot.

KEYWORDS:- Arduino IDE, 4 DOF, RF controller , catching cropper

1. Introduction

The aim of this design is utilized to pick an object and place it in the desired location. Mankind has strived to give life
like qualities to its artifacts in an endeavor to find substitutes for himself to carry-out his orders. The industry is
peregrinating from current state of automation to robotation to increment productivity and distribute uniform quality. The
automation is playing consequential role to preserve human efforts in most of the customary and frequently carried
works. One of the most commonly performed works is picking and placing of jobs from source to destination. Hence the
Robotics is cognate to electronics, mechanics and software.

2. Arduino mega 2560

Fig 1: Arduino Mega 2560

The Arduino Mega 2560 is a microcontroller board based on the ATmega2560 . It has 54 input/output digital pins ,16
analog inputs, 4 UARTS , a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset
button. It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or
power it with a AC -to-DC adapter or battery to get started. The Mega is compatible with most shields designed for
the Arduino Uno, Duemilanove or Diecimila.
3. RF Transmitter and Receiver

In for the most part, the remote frameworks architect has two abrogating imperatives: it must work over a specific
separation and exchange a specific measure of data inside an information rate. The RF modules are little in measurement
and have a wide working voltage run i.e. 3V to 12V. The information is sent serially from the transmitter which is gotten
by the tuned receiver. Transmitter and the receiver are duly interfaced to two microcontrollers for information exchange.

Fig 2: RF Transmitter and RF Receiver

A wireless radio frequency (RF) transmitter and receiver can be effortlessly made using HT12D Decoder,
HT12E Encoder and ASK RF Module. Remote transmission should be possible by utilizing 433MHz or 315MHz ASK
RF Transmitter and Receiver modules. In these modules advanced information is spoken to by various amplitudes of the
bearer wave, thus this balance is known as Amplitude Shift Keying (ASK).

4. L293D Motor Driver IC

L293D is a typical Motor driver or Motor Driver IC which sanctions DC motor to drive on either direction. L293D is a
16-pin IC which can control a set of two DC motors simultaneously in any direction. It signifies that you can control two
DC motors with a single L293D IC. Dual H-bridge Motor Driver integrated circuit (IC). The l293d can drive diminutive
and quiet sizably voluminous motors.

It works on the concept of H-bridge. H-bridge is a circuit which sanctions the voltage to be flown in either direction. As
you can voltage need to transmit its direction for being able to rotate the motor in clockwise or anticlockwise direction,
Hence H-bridge IC are ideal for driving a DC motor.

Fig 3:- L293 Driver Board

5. Gear Motors

Robot is an electromechanical gadget which is fit for responding somehow to its condition, and take independent choices
or activities keeping in mind the end goal to accomplish a particular undertaking. Roboticists create man-made
mechanical gadgets that can move without anyone else's input, whose movement must be demonstrated, arranged,
detected, impelled and controlled, and whose movement conduct can be affected by programming. Engines and actuators
change over electrical vitality into physical movement. Most by far of actuators deliver either rotational or straight
movement.

Fig 4:- Gear Motor

We definitely realize that electric motors are utilized to "activate" something in our robot: its wheels, legs, tracks, arms,
fingers, sensor turrets, camera, or weapon frameworks. An engine controller is an electronic gadget that causes
microcontroller to control the engine. Engine controller goes about as a middle of the road gadget between a
microcontroller, a power supply or batteries, and the motors

6. Working Principle of Robotic Arm

Fig 5:-Block Diagram

In this model by utilizing ATmega 2560 can be controlled by the RF transmitter and receiver . The 4 DOF Robotic arm
consists of 4 motors which is an optimal design of a parallel manipulator aiming to perform pick and place operations.
The base motor rotates in clockwise and anticlockwise directions, the standard motor and mid motor avails in distance
moving, where as grip motor catches the objects and it can can place at desired location. Motor driver L293D receives
12V from power supply and drive the motors. Each DC motor is connected to the M1, M2 and M3, M4 of the driver IC.
Kineticism of the robotic conveyance and arm is predicated on the direction of rotation of motors. By giving digital high
or low values to the motor pins we can rotate it to any direction.

The robotic arm can also be design with fiber, wood, glass and plastic accordance with desired application. The
maximum weight that can be carried by this model is depends on the capacity of DC motors utilized. This board works
with power supply of 5v (DC). The RF transmitter transmits the RF signal to the RF receiver, then Arduino mega
receives the RF signal commands and it passes to the driver motors. Conclusively predicated on the given inputs (Mega
2560) it transit to motor drivers predicated on conditions and then it controls the sources of motors, which was given in
below table.

Fig 6:- Design Model images

Sl.No. Input Output Function in Robo

1 0000 stop
2 1111 ideal
3 1000 Base motor right rotation
4 0100 Base motor left rotation
5 0010 Stand motor up
6 0001 Stand motor down
7 1100 Mid motor up
8 0011 Mid motor down
9 0110 Grip motor lock
10 1001 Grip motor unlock

Table1:- Table of input given signal

7. Advantage

 It is mainly invented for simplifying the industrial assembly lines and explosive items.
 It gives the smooth operations as well as reduced time consuming process.
 Robots can be programmed to move within strict work envelope limits - leading to even better use of space.
  This robot will eliminate the human works in material and glass handling section.

8. Applications

 This wireless robot can be applicable in the automobile industry.

 When handling the explosive items like bomb it will be handled smoothly.
 This type of robot can also be helpful in the home usage such as picking the needed objects.
 It can also be applicable in building constructions and shopping malls.
 This type of robot is used in the developed multi- national companies and manufacturing industries

9. Conclusion

The effective Design and Implementation of Wireless 4 DOF Robotic Arm has been performed. The robotic arm has
been extensively tested and the required measures were taken. Similar operations on a moving work surface yield
success rate. Hence the objective of designing and manufacturing of Wireless 4 DOF Robotic Arm at low cost was
successful and It’s been proved that running cost of the robot is also very less. This will avail to cut down labor and
ameliorate profits at very low initial investment. By considering the above advantages and additionally by visually
examining sundry benefits, this project can be employed in the assembly industry. I hereby, conclude by saying that this
project can be a factor for engendering an impact on assembly sections.

10. Future Work

Since it is the prototype of this Model, in future can additionally done with the full coerced system i.e., thoroughly
culminated robot. That is consummately culminated robot with microcontroller and sensors. This type of the robot should
be kept as robots in assembly line of automobile industry, glass handling industry, material handling industry, shopping
malls, etc., for facile completion of any work with less time consumption.

References

[1] Mohd Ashiq Kamaril Yusoffa, Reza Ezuan Saminb, Babul Salam Kader Ibrahimc, Wireless Mobile Robotic Arm,
International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012), 1072 – 1078.
[2] Sanjay Lakshminarayan, ShwetaPatil, “Position Control of Pick and Place Robotic Arm”, Department of Electrical
Engineering MS Ramaiah Technology, Bangalore, India.
[3] RK Mittal and IJ Nagarath “Robotics and Control” BITS Pilani, 2003.
[4] Er. R.K.Rajput, „Robotics and Industrial Automation‟, S. Chand Publications, 2014.
[5] www.wikipedia.org/wiki/Robotics .
[6] SGS Thomson Microelectronics L293D - L293DD [DATASHEET] PUSH-PULLFOUR CHANNEL DRIVER
WITH DIODE .June 1996.
[7] Muhammad Jabir.N.K1, Neetha John2, Muhammad Fayas3, Midhun Mohan4 , Mithun Sajeev5 , Safwan.C.N6
“Wireless Control of Pick and Place Robotic Arm Using an Android Application‟ Vol. 4, Issue 4, April 2015