IOT Based Robotic Arm

Vishwajeet Abhay More

Department of Mechanical(Mechatronics) Engineering Department, Sinhgad College of Engineering,Pune.

Abstract: The ongoing revolution of Internet of Things (IoT), together with the growing diffusion of robots
in many activities of everyday life, makes IoT-aided robotics applications a tangible reality of our
upcoming future. Accordingly, new advanced services, based on the interplay between robots and things,
are being conceived in assisting humans. Nevertheless, the path to a mature development of IoT-aided
robotics applications requires several pivotal issues to be solved, design methodologies to be consolidated,
and strong architectural choices to be discussed. The proposed IoT-based Robotic Arm system consists of a
robotic arm, sensors, actuators, a microcontroller, and a wireless network module. The system allows
remote operation of the arm through a web-based user interface, providing increased flexibility, reduced
costs, and improved efficiency for various industries. The system can automate repetitive tasks, reducing
the need for human labor and improving productivity. Nevertheless, the path to a mature development of
IoT-aided robotics applications requires several pivotal issues to be solved, design methodologies to be
consolidated, and strong architectural choices to be discussed. As Robots are used to help mankind in
various environments if we combine the Robots and Internet of things we can achieve more than we can
think of. This project discusses technological implications, open issues, and target applications in the
IoTaided robotics domain.
However, further research is needed to optimize the system's performance and address the challenges of
implementing IoT-based robotic systems. As the Internet of Things (IoT) is revolutionising and digitalising
industry and the need for remote connectivity is increasing, there is an opportunity for new solutions for
remotely controlled industrial equipment. This thesis realises this concept with a working demonstrator
consisting of a model arm and a robot arm, connected through a third party IoT service. The results lead to
the conclusion, that the envisioned concept has merit, but is restricted by limitations such as the
transmission interval of the used IoT service. Further, the conclusions and accomplishments of this thesis
could serve as a basis for additional research on this method of remotely controlling industrial equipment.

Keyword: IOT, IoT Based Arm Robot, Servo motor

I. INTRODUCTION
Automation is a critical component of modern industrial development, enabling increased efficiency and
productivity while reducing the need for human labor. One significant outcome of this trend is the
widespread use of robotic arms in production and assembly environments. Robotic arms are
programmable manipulators that can perform a range of tasks in various settings, improving performance
and reducing repetitive labour costs. The Internet of Things (IoT) has also made a significant impact on
automation, allowing for data exchange across devices and facilitating remote control and monitoring.
This includes the use of wearable energy harvesting devices and implanted wireless biomedical
applications, such as wireless micro pumps, micro mixers, and micro valves. A Robotic arm is a type of
mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the
sum total of the mechanism or may be part of a more complex robot. The links of such a anipulator are
connected by joints allowing either rotational motion (such as in an articulated robot) or translational
(linear) displacement.
A theoretical-based thesis can help evaluate the best solutions to problems associated with implementing
robotic arms. The project objectives include comparing available components, designing installation
layouts, developing wiring designs and installations, constructing support systems, designing grippers,
and programming the robot. The internet of things (IoT) is the network of physical devices, vehicles,
buildings and other items embedded with electronics, software, sensors, actuators, and network
connectivity that enable these objects to collect and exchange data. The IoT allows objects to be sensed
and controlled remotely across existing network infrastructure, creating opportunities for more direct
integration of the physical world into computer-based systems, and resulting in improved efficiency,
accuracy and economic benefit. When IoT is augmented with sensors and actuators, the technology
While IoT-based robotic systems offer many benefits, further research is needed to optimize their performance
and address the challenges involved in their implementation. By overcoming these challenges, IoT-based
robotic systems may revolutionize the future of industrial automation, leading to increased efficiency,
productivity, and flexibility while reducing costs and improving safety.

A. Aims and Objectives

1) Enhance automation and efficiency in various industries such as manufacturing, logistics, and healthcare.
2) Perform a wide range of tasks with high precision, speed, and accuracy.
3) Provide businesses with a versatile and flexible tool that can enhance productivity, safety, and efficiency
while reducing costs and optimizing operations.

II. MATERIAL & METHOD

An IoT-based armed robot that uses wireless control is a robotic system that can be controlled remotely via the
Bluetooth or other wireless communication technologies. The robot is equipped with sensors, and weapons
that can be activated and controlled wirelessly using a web interface or mobile application.
The robot uses wireless communication technologies such as Wi-Fi, Bluetooth, to receive commands and
transmit data. This allows the robot to be control.
The wireless control aspect of the robot makes it easy to deploy and operate in remote locations where
physical access may be limited. It also allows for real-time monitoring of the robot's activities and the
environment it is patrolling.
Overall, an IoT-based armed robot that uses wireless control is a highly advanced security solution that
provides enhanced safety and protection against potential threats. The major components required for an IoT
Based Arm Robot are:
1. Arduino
Arduino boards are widely used in the robotics industry and in various computing elements within robots.
They are utilized for a range of applications, from path planning and safety systems in self-driving vehicles, to
sensors that enable vibration analytics in industrial settings, and provide high performance while conserving
power in drones used by emergency response services. This versatility has led to a change in approach in how
we create this technology.
The ATmega 328P microcontroller, which is commonly used in Arduino boards, has become more pivotal,
particularly in the field of machine learning (ML) which plays a significant role in powering modern robotics.
Arduino's focus has always been on pairing the best compute solution with the required workload.

2. Servo Motor Controller

A motor controller is an electronic device or a set of devices that regulate the performance of an electric motor
in a predetermined manner. This can involve mechanisms for starting and stopping the motor, selecting the
direction of rotation, regulating the speed, limiting torque, and protecting against overloads and malfunctions.
Motor controllers may have manual or automatic controls depending on their intended use.

3. Servo Motors
Servomotors are versatile electromechanical components with a small and compact form factor, high power
and low energy consumption. They are frequently used in projects, robots, toys and more. Servomotors house
a geared shaft, typically housing a motor and an integrated potentiometer while being proportionally
controlled via an electrical signal with a respective variable width. The method used for controlling
servomotors is called pulse width modulation (PWM) and transforms the digital output into an analogue signal
that can be read by the servo. By declaring a minimum and maximum pulse width that correspond to a
minimum and maximum physical rotation of the motor, the outgoing axle can be controlled and adjusted
precisely.This control system is designed to operate a motor bidirectionally and at variable speeds for specific
applications. This depicts a Servo gear motor. The motor operates at a nominal voltage of either +5V or +12V,
with a nominal power range of 4W to 10W, and a nominal current range of +2A to 4A.

4. Potentiometer
Potentiometers are electromechanical parts that take advantage of materials properties changing from
deformation such as rotation. As briefly mentioned in, standard rotary potentiometers usually consist of a
rotary shaft, a resistor, a housing and three terminals. Depending on the rotational state, the resistance differs
and a voltage can be read from the connections to the terminals. In the scope of this project, potentiometers
with 10 kΩ are used that will output 0-5V. On restricted potentiometers, this output can easily be mapped
against the torsional state e.g. 0 − 180 or 0 − 270 (depending on the potentiometer). If this relationship is
linear as in this project, the potentiometer can be classified as linear. Potentiometers are used to read
positional data and can commonly be found in applications in the field of audio engineering or robotics.
A potentiometer is a type of variable resistor that consists of three terminals, including a sliding contact. It
functions as an adjustable voltage divider for measuring electric potential, or voltage, by allowing the user to
change the resistance in a circuit. Potentiometers are frequently used in a variety of electrical devices such as
audio equipment volume controls, position transducers, and signal adjustment applications. They can be used
as voltage dividers or position sensors in measurement instruments or robotics applications.

5. Bluetooth Module
This particular module is designed to operate on a 3.3V power supply but it can also handle a 5V supply
voltage due to the presence of an onboard 5 to 3.3V regulator.
The HC-05 Bluetooth module operates using a 3.3V level for RX/TX, which can be easily detected by most
microcontrollers without any extra voltage shifting required. However, it is important to ensure that the
transmit voltage level from the microcontroller is shifted correctly to match the RX input of the HC-05
module. The HC-05 module is capable of transferring data at rates of up to 1Mbps over a distance of
approximately 10 meters.

6. Power Supply
For this particular application, two types of power supply units: the PS 307 with a 5A capacity and the PS 307
with a 2A capacity. Motor controllers are used to drive the motors in this application, and it is important to
note that the starting current for the motor is around 3A while the nominal motor current is approximately 1A.
Given that the motor controller requires a larger amount of power, the power unit with a 5A capacity (PS 307)
is connected to the motor controller, while the power unit with a 2A capacity (also PS 307) is connected to the
control units.

7. Voltage Regulator
In order to power potentiometers used as input devices for an analog signal module, a constant voltage supply
is required. To regulate this voltage, the HB7809 voltage regulator is being utilized, which has a fixed output
voltage of 9V.To set the voltage range for the analog signal module, adjustments can be made based on
specific conditions. In the current setup, the processing range for analog signals has been configured to be
within the range of 0-10V.

8. Robotic Arm
It integrates mechanical, electrical, electronics, control engineering, computer science, technology, math and
science. Robots are indispensable in many manufacturing industries. The links of such a manipulator are
connected by joints allowing either rotational motion (such as in an articulated robot) or translational (linear)
displacement. The links of the manipulator can be considered to form a kinematic chain. The terminus of the
kinematic chain of the manipulator is called the end effector and it is analogous to the human hand.

Fig.1 Working Module

Fig.2 Circuit Diagram of IoT Based Arm Robot

Fig.3 Flowchart of code for the model arm.

 Fig.4 Block Diagram of IoT Based Arm Robot

This block diagram describes the basic components and flow of information within an IoT-based robotic arm
system, controlled by a mobile device over WiFi, and powered by an ATmega228p microcontroller with a
wrist that operates on rotational movement.

III. RESULT
While previous research has focused on robotic arm technology, the incorporation of IoT provides an
opportunity to advance this research. In this study, an Android mobile device is utilized as the primary
platform for remote control of the robotic arm, specifically for pick and place operations. This approach
utilizes modern technology to improve the functionality and accessibility of the robotic arm, allowing for
more efficient and effective operation.

Fig.5 IoT Based Arm Robot

 IV. CONCLUSIONS
The IoT-based arm robot is a promising technology that has the potential to revolutionize various industries,
including manufacturing, healthcare, and agriculture. A detailed study of this technology showed that it
involves the integration of sensors, actuators, and communication protocols to enable the robot to interact with
its environment and perform complex tasks.
The use of IoT in robotics enables real-time monitoring and control of the robot, making it more efficient and
accurate in its operations. It can also be used for predictive maintenance, which helps prevent breakdowns and
reduces downtime. Additionally, IoT-based arm robots can be remotely controlled and monitored, providing
opportunities for remote work and collaboration.
While the technology is still in its early stages, there is immense potential for further development and
improvement. Future research could focus on enhancing the accuracy and reliability of the sensors and
communication protocols, as well as exploring new applications in different industries.
Overall, the IoT-based arm robot presents many exciting possibilities for the future of robotics and
automation. Its integration with IoT technology has the potential to make robots more efficient, autonomous,
and adaptable to different environments, ultimately leading to increased productivity and cost savings for
businesses. This report highlights the importance and benefits of adopting this technology and provides a basis
for further research and development in this field.

V. ACKNOWLEDGMENT
It is my proud privilege and duty to acknowledge the kind of help and guidance received from several
people in preparation of this report. It would not have been possible to prepare this report in this form
without their valuable help, cooperation and guidance.
I express my sincere gratitude to my guide Prof. Avinash Kaldate. Department of Mechanical Engineering
(ME Mechatronics), SCOE, Pune for guiding me in investigations for this seminar. The numerous
discussions with him were extremely helpful. We hold in him in esteem of guidance, encouragement and
inspiration received from him.
The project on Internet Of Things(IOT) Based Robotic Arm was very helpful to me in giving the
necessary background information and inspiration in choosing this topic for the project. My sincere
thanks to Prof Avinash Kaldate seminar guide for having supported the work related to this project. His
contributions and support in preparing this report are greatly acknowledged. Last but not least, I wish to
thank our parents for constantly encouraging me to learn Engineering.

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