DEPARTMENT OF MECHANICAL ENGINEERING

BAPATLA ENGINEERING COLLAGE : BAPATLA

FABRICATION OF GESTURE CONTROL

ROBOTIC ARM WITH IOT
Under the guidance of: Presented by:
Dr.J.Laxmi Lalitha 1. B. Srikar [L20AME544]

Associate Professor 2. T. Nehru Narasimha[L20AME550]

3. V. Nageswara Rao [L20AME557]
4. D. Sai Kishore [Y19AME431]
S.no Author/ Tittle Description Remarks
year
1. Love Design and It is basically an One of the gestures are controlled
Aggrarwal Implementation of a Accelerometer based system which with leg. Which not advice able.
et.al. (2013) Wireless Gesture controls a Robotic Arm Inspite of using leg we can access
Controlled Robotic Arm wirelessly using a, small and low-cost, 3- the gesture with the other hand.
with Vision axis (DOF’s)  
  accelerometer via RF signals. The Robotic  
Arm is mounted  
over a movable platform which is also  
controlled wirelessly by another  
accelerometer.  
 
2. Adeline Neo Design and This paper presents the design and The robotic arm can be situated
Wei QI et.al. Development of a development of a robotic arm for light on a mobile platform with 4
(2015) Mechanism of Robotic material lifting application. The robotic arm wheels to allow portability and
Arm for Lifting Part is drafted using computer aided design navigation. Design of a universal
  software, Autocad and fabrication with gripper is interesting because it
advance technology, 3D-printing to save cost can lift different shapes of objects.
and time. Robotic arm has sensors to detect
the position of the objects and the
whole process is automated and it
can also communicate with user
through networking.
S.no Author/ Tittle Description Remarks
year
3. Argua Modelling and designing This paper presents a model for In the receiver section, a wireless camera is
Samanta of gesture control robot gesture controlled user interface placed to monitor the performance of robot
et.al. (GCUI), And identifies trends in arm along with patient side (Robot arm
(2017) technology, application and side) 5 vital parameters (ECG, Respiration
usability. It is an integrated rate Pulse rate, Temperature, Heart beat) of
approach is real time detections, patient is monitored. This is a preventive
gesture based data which measure for any imbalance in victim’s
control vehicle movement and metabolism (temperature, pressure, heart
manipulation on gesture of the rate), ALARM in transmitter’s section
user using hand movements. (physician side) will be ringing, which in
turn brings into notice of physician that
patient is in some critical situation.
4. Dheeban S Arduino Controlled Nowadays robotic arm is used The arm can be fixed to a rover that
S et.al. Gesture Robot in various areas such as military, provides the movement and can be
(2018) defense, medical surgeries, pick controlled wirelessly. This kind of system
and place function in can find application in bomb diffusion
industrial automation applications and fireworks and match
applications. Based on the industries.
gesture of human hands the
robotic arm moves and
performs the task and this
system replicates the actions of
S.no Author/ Tittle Description Remarks
year
5. Deepanshu Gesture Control The project aims to reduce these The on board batteries use a lot of space and
Kiran et.al. Robot using Arduino problems by presenting a Sign are also quite heavy. We can either use some
(2019) Language. alternate power for the batteries or replace the
The project uses a hepatic glove to DC Motors with ones which use less power.
acquire signals corresponding to
various hand gestures.

6. Dr. C.K. The gesture A robot is the system which deals This wheel chair can be operated by a
Gomathy controlled robot with construction, design and wireless remote which can reduce the wiring
et.al. operation. arrangements.
(2021) Robotics is currently focused on
  developing systems that
modularity, flexibility,
redundancy, fault tolerance and
some other researchers are on
completely automating a
manufacturing process or a task, by
providing sensor based to the
robot arm.
 ABSTRACT

• Robot plays a vital part in making our lives more facile. The scope of this
project is to provide a relation between human and machine by the
interaction of human hand and robotic arm.
• A wireless connection is used and helps to connect with robotics and
parts of the body. This type is easy to control and use.
• Our aim to control the robotic arm using gesture control with IOT from
anywhere in the world.
 ROBOTIC ARM
• 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.
• Robotic arms are machines that are programmed to execute a specific task or
job quickly, efficiently, and extremely accurately. Generally motor-driven,
they’re most often used for the rapid, consistent performance of heavy and/or
highly repetitive procedures over extended periods of time, and are especially
valued in the industrial production, manufacturing.
ROBOTIC ARM
 INTERNET OF THINGS (IOT)
• The Internet of Things (IoT) describes the network of physical objects things
that are embedded with sensors, software, and other technologies for the
purpose of connecting and exchanging data with other devices and systems
over the internet. These devices range from ordinary household objects to
sophisticated industrial tools.

IMPORTANTS OF IOT
o Over the past few years, IoT has become one of the most important
technologies of the 21st century. Now that we can connect everyday objects—
kitchen appliances, cars, thermostats, baby monitors—to the internet via
embedded devices, seamless communication is possible between people,
processes, and things.
 ARDUINO
• Open source electric prototyping platform based on flexible easy to use
hardware and software.
• Arduino board is a micro controller. The board is equipped with sets of
digital and analog input/output (I/O) pins that may be interfaced to
various expansion boards (shields) and other circuits.
• Types of Arduino
1. Arduino Leonardo
2. Arduino Lilypad
3. Arduino Uno
4. Arduino Mega
5. Arduino Mini
6. Arduino Nano
 COMPONENTS
1.Arduino Uno
2.Robotic Arm 6 DOF
3. PHPOC Wifi Shield
4.Acclerometer
5.Jumper Wires & Bread Board
6.Flex Sensor & Servo Motor
7.Hand Glove & Battery
8.Ceramic Capacitor & Voltage Regulator
 ARDUINO UNO

Arduino UNO is a low-cost,

flexible, and easy-to-use
programmable open-source
microcontroller board that
can be integrated into a
variety of electronic
projects.
 ROBOTIC ARM 6DOF

The robot arm has 6 motors.

•Zone A: Control motor 2, 3, 4
(control three hand joints)
•Zone B: Control motor 1
(control base)
•Zone C: Control motor 5
(control rotation of gripper)
•Zone D: Control motor 6
(control gripper)
SYSTEM ARCHITECTURE
 ACCELEROMETER
(MPU6050)
MPU6050 is based on Micro-
Mechanical Systems (MEMS)
technology. This sensor has a 3-axis
accelerometer, a 3-axis gyroscope,
and an in-built temperature sensor.
It can be used to measure
parameters like Acceleration,
Velocity, Orientation, Displacement,
etc.
 JUMPER WIRES
A jumper wire (also known as jumper, jump
wire, DuPont wire) is an electric wire, or
group of them in a cable, with a connector or
pin at each end (or sometimes without them –
simply "tinned"), which is normally used to
interconnect the components of a breadboard
or other prototype or test circuit, internally or
with other .equipment or components, without
soldering.
BREAD BOARD
A breadboard allows for easy and quick
creation of temporary electronic circuits
or to carry out experiments with circuit
design. Breadboards enable developers to
easily connect components or wires
thanks to the rows and columns of
internally connected spring clips
underneath the perforated plastic
enclosure
 PHPOC WIFI SHIELD

In the era of IoT (Internet of Things),

everything should be connected to the
Internet. Arduino Uno and Mega are
popular hardware platforms and widely
used in many applications. However, they
are not able to connect to the Internet
themselves. PHPoC Shield is here to be a
bridge between Arduino and the Internet.
Moreover, PHPoC Shield brings Arduino
many dominant features that have never
been seen in other shields to Arduino.
 HAND GLOVE
A glove is a garment covering the
hand. Gloves usually have separate
sheaths or openings for each finger
and the thumb.
BATTERY
Hi-Watt 9V Battery is the most commonly
used and portable 9V battery. It is non-
rechargeable and is a high capacity and low-
cost solution for many electronic devices. It
is based on Zinc Carbon Chemistry and can
be used easily replaced if discharged just
like any standard AA and AAA batteries.
 CERAMIC CAPACITOR
• Ceramic capacitors are mainly used for
high stability performances and low-loss
devices. These devices provide very
accurate results, also the capacitance
values of these capacitors are stable with
respect to the applied voltage, frequency
and temperature.
VOLTAGE REGULATOR
• The purpose of a voltage regulator is to
keep the voltage in a circuit relatively close
to a desired value. Voltage regulators are
one of the most common electronic
components, since a power supply
frequently produces raw current that would
otherwise damage one of the components
in the circuit.
 FLEX SENSOR
• A flex sensor or bend sensor is a sensor that
measures the amount of deflection or bending.
Usually, the sensor is stuck for the surface, and
resistance of sensor element is varied by
bending the surface. Based on the degree of
bend of this plastic piece, the resistance
changes, affecting the current. This
measurement is then used to detect hand
movement changes.
SERVO MOTOR
•The servo motor is used in robotics to
activate movements,giving the arm to its
precise angle.
•The Servo motor is used to start,move
and stop conveyor belts carrying the
product along with many stages. ...
•The servo motor is built into the camera
to correct a lens of the camera to improve
out of focus images.
 METHODOLOGY
The Robotic Glove’s Arduino uses sensors to communicate with the Robotic Arm
Arduino and sends data to move a Servo motors to the desired angle.
The hand glove consists of Arduino Uno, Flex sensor, Accelerometer, Bluetooth
module, Bread board, battery, jumper wires, Hand glove, Resistor.
By using jumper wires, Arduino Uno, flex sensor, Accelerometer and WIFI module
are connected on the bread board.
When we bend our finger we can intern control the robotic arm, As flex sensor bends
resistance changes.
We use a sensor to send a value to robotic arm to move servo motors, this is done
over wifi module.
Accelerometer is to measure the changes of hand movements.
The output signals from flex sensor & accelerometer passed to Arduino.
The Arduino is able to read the input signals and sends output to wifi
module.
Next the wifi module transmits the signal to the robotic arm.
Then by using this signal, we can intern control the joint motors and
thus the robotic arm can able move.
The application of the robotic arm to perform pick and place
operation.
 REFERENCES
 Love Aggarwal, Varnika Gaur, and Puneet Verma, “Design and Implementation of a Wireless Gesture
Controlled Robotic Arm with Vision”, International Journal of Computer Applications (0975 – 8887)
Volume 79 , No 13, October 2013.
 Adeline Neo Wei QI, Meera Ismail, and Nurfathin mustaffa, “Design and Development of a Mechanism
of Robotic Arm for Lifting Part1”, 2nd Integrated Design Project Conference (IDPC) 2015, Faculty of
Mechanical Engineering, Universiti Malaysia Pahang, 11 Dec 2015.

 Argha Samanta, Sangharsh Kumar, Deepak Saraswat, Bharnab Das4, Vibhuti Kumar5, and Harpreet
Kaur Channi, “Modeling and Designing of Gesture Control Robot”, International Journal of Trend in
Scientific Research and Development (IJTSRD), Volume 3 ,Issue 10 , OCTOBER 2017.
 Dheeban S S, Harish D V, Hari Vignesh A, and Prasanna M, “Arduino Controlled
Gesture Robot”, IEEE 4th International Symposium in Robotics and Manufacturing
Automation (ROMA),2018.
 Deepanshu Kiran, Himanshu Singh, and Kushal Kant Singh Saxeriya, “Gesture
Control Robot using Arduino”, International Journal of Trend in Scientific Research
and Development (IJTSRD),Volume: 3,Issue: 3, Mar-Apr 2019.
 Dr. C.K. Gomathy, Mr. G. Niteesh, and Mr K. Sai Krishna, “THE GESTURE
CONTROLLED ROBOT “, International Research Journal of Engineering and
Technology (IRJET), Volume: 08 Issue: 04 Apr 2021.