To design 6 DOF robotic arm using servo motors

1. Second Year Bachelor of Technology.
 Abhishek Sainkar S177086
 Ashish Kumar S177057
 Rohit Kadhane S17708
-Under Guidance of,
Khandekar Sir
Department of Electronics And Telecommunication
Engineering
Robotics Presentation

2. PROBLEM STATEMENT
• To construct a humanoid shaped bot with wheels at
base which can perform weightlifting operations and
can be use for general purpose.

3.  The motive behind designing this project was exploring the different fields in
robotics and in software domain. It is made using Open source electronics
prototyping platform.
 Another motive was of making the valuable knowledge of robotics meet the need
of people and help them explore the wisdom of life.
 Many times, people affected from polio, major accident in which person lose their
arms, person affected paralysis so they become disabled physically to their
regular work.To overcome their disability we can use General purpose robots.
 We want to provide this type of Robot to the hospitals, old age home where the
people are are not able to perform their task so that this bot will help in their daily
general purpose operations.

4. To design a bot with wheels at base and having two arms which can be used for any general
purpose applications.
To design and develop Robotic arm using servo motors with the help of AT Mega 328P
Micro-Controller(i.e. Arduino Uno R3 Board).

5. The Objective behind the project is as follows:
1) To minimize efforts of physically disabled people so that
they could do their work as normal people .
2) To make use of such bot in Restaurant to serve dishes or to
carry the things
3) To Make use of Robotic bot in automated Manufacturing
Assembly lines used in factories.
4) To make use of Robotic Arm to diffuse and test explosives in
army applications. Robotic arm are also used in army to
diffuse land mines .

6. Our Project is a Arduino based Robotic arm capable of imitating its human arm. It
uses of 4 servo motors that control each joints and arm its motion.
This arm is generally controlled by physical means.The Physically controlled arm
functions as an analog input to the system , which replicates and records the signal
and synchronously functions with the servo motors ( i.e.:The Robotic Arm)

7. 1) Variable resistors will be connected to Arduino as per circuit
diagram.
2) Necessary Programming will be done logically fit our
application requirements.
3) Output will be measures in terms of motion in combination
of working of different servo simultaneously.
4) Accuracy and Precision in robotic arm will verified and
tested after designing frame for robotic arm.

9. Robotic Technology
Most of the Robots have almost five
Parts:
1. Sensors
2. Effectors
3. Actuators
4. Controllers
5. Arms

11. Robotic Arm
• Robotic arm is basically a
manipulator ,usually
programmable to similar
function to robot arm
• Servo motor is used to joint
rotation
• We can also control it
through computer interface

12. Robokits RKI
1204

13. RKI 1211

14. GRIPPING FORCE CALCULATION
We know gripping force is given
by,
µ.f.Fg = W.g
Where, µ= coeff. Of friction
between gripper and object
surface.
f= no. of contact
surfaces. Here, f=2
Fg= Gripping Force
W= weight of the
object lifted. Here, W= 0.981 N
g= factor
1. For Lifting (Picking):
g=1. So,
2.µ.Fg = W
Gripping Force, Fg = 0.981 N
2. For Placing:
g=3. So,
2.µ.Fg= 3W
Gripping Force, Fg= 2.943 N.

15. DESIGNED ARM
Aluminium used: 6061 T6

16. ASSEMBLY PARTS

17. COST ANALYSIS
Sr No. Component Quantity Unit price
(Rs)
Total (Rs)
1 RKI 1204 2 470 940
2 RKI 1211 2 1120 2240
3 6061 T6 Aluminium - - 300
4 Long U shaped
bracket
3 180 540
5 L shaped Bracket 1 94 94
6 Multipurpose
aluminium bracket
4 80 320
7 Parallel Jaw Gripper 1 1000 1000
Total : Rs
5440

20. Defence Packaging systems
Automated Manufacturing Assembly Lines. Prosthetics arm design.

21. Conclusion and Future Scope
• In basic robotics we design machines to do the specified tasks and in the
advanced version of it robots are designed to be adaptive
• While designing a robot the most important thing to be taken in
consideration is, obviously, the function to be performed. Here comes into
play the discussion about the scope of the robot and robotics

22. [1] https://create.arduino.cc/projecthub/ChanR19/simple-programmable-robotic-
arm-bd28a0
[2] https://www.electronicshub.org/robotic-arm/
[3] https://maker.pro/projects/arduino/hand-gesture-controlled-robotic-arm-arduino
[4] https://create.arduino.cc/projecthub/benbobgray/mearm-robot-arm-your-robot-
v1-0-326702?ref=search&ref_id=robot%20arm&offset=2
[5] https://create.arduino.cc/projecthub/ammaratef45/control-robot-arm-with-your-
android-phone-adbfb3?ref=search&ref_id=robot%20arm&offset=3
[6] https://create.arduino.cc/projecthub/team-3/robot-arm-arduino-101-team-3-
631b48?ref=search&ref_id=robot%20arm&offset=0

23. THANK YOU!
THANK YOU!