The document is a project report for a motion imitating robotic arm created by three students - Rohit Mane, Abhishek Sainkar, and Omkar Rane. It was guided by Prof. Sandeep Nagre of the Electronics and Telecommunication Engineering department at MIT Academy of Engineering, Alandi, Pune. The report describes the design and implementation of a robotic arm that uses four servo motors controlled by an Arduino board to imitate human arm motions. It includes circuit diagrams, code, and diagrams of the mechanical design and 3D printed parts. The aim was to create a low-cost robotic arm that could potentially be used as a prosthetic device.

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DEPARTMENT OF ELECTRONICS & TELECOMMUNICATION
ENGINEERING
MIT Academy of Engineering
Dehu Phata, Alandi (D)
Pune - 412105, Maharashtra (India)
2017-18
A project Report On,
Submitted by,
Rohit Mane SETB102
Abhishek Sainkar SETB104
Omkar Rane SETB118
Guided by,
Prof. Sandeep Nagre
A Minor Project Report submitted to MIT Academy of Engineering Alandi
submitted in partial fulfilment of the requirement for Fourth Semester of
BACHELOR OF TECHNOLOGY in Department of Electronics and
Telecommunication Engineering.
Topic: Motion Imitating Arduino Based Robotic arm.

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CERTIFICATE
This is to certify that,
Rohit Mane S177
Abhishek Sainkar S177
Omkar Rane S177086
of S. Y. B. Tech. have submitted a Report on,
Motion Imitating Arduino Based Robotic arm.
The said work is completed by putting the requirement of hours as per prescribed
curriculum during the academic year 2017 – 18. The report is submitted in the partial
fulfilment of the requirements for the course Minor Project in the Fourth Semester of
Degree of Engineering in ENTC Department of MIT Academy of Engineering.
Date: / /
Place:
Signature: Signature:
Name : Name :
Internal Examiner External Examiner
Alandi (D), Pune – 412105
Department of ENTC Engg.
(Accredited by NBA, ISO 9001:2008 Certified)

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CONTENTS
Acknowledgements i
Abstract ii
List of Figures iii
List of Tables iv
1. Introduction
1.1 Motivation
1.2 Objectives and Scope
1.3 Real time Applications
2. System Design
2.1 Design Process Algorithm.
2.2 Circuit Diagram and Schematics.
2.3 Electronics-Hardware implementation.
2.4 Arduino Programming Code for Robotic Arm.
3. Mechanical Hardware and CAD Modelling for robotic arm.
4.
Final Robotic Arm Assembly.
5. Working of Robotic arm.
6. Conclusion and Future scope 36
References 37

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Acknowledgements
we are thankful to all the people who are involved in this project
including jury members who suggested rectification of errors in our
project from time to time during our presentations. We are also thankful
to mechanical workshop people who had helped is operating difficult
machinery in mechanical workshop required in our completion of
project. Last and least our manufacture of 3D printing robotic arm
Ayasa Electronics’. Ltd who had printed our robotic arm based upon
our requirements in his manufacturing facility. We are thankful to all
who knowingly and unknowingly helped us to accomplish this minor
project of second year in fourth semester.

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Abstract
To design and develop Robotic arm using servo motors with the help of AT
Mega 328P Micro-Controller (i.e. Arduino Uno R3 Board). The principle of
motion Imitating Robotic Arm is a to control rotation of servo motor using a
voltage divider through variable resistor.AT mega 328P micro-controller is used
to read analog values and convert them into them into pulse width modulation
to control angle rotation angle of servo motor.

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LIST OF FIGURES
Fig. No. Fig. Name Page No.
Fig 1 3
Fig 2.1.1 4
Fig 2.2.1 4
Fig 2.2.2
Fig 2.3.1
Fig 2.3.2
Fig 2.3.2
Fig 3.1
Fig 3.2
Fig 3.3
Fig 3.4
Fig 3.5
Fig 3.6
Fig 3.7

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Fig 3.8
Fig 3.9
Fig 3.10
Fig 3.11
Fig 3.12
Fig 3.13
Fig 3.14
Fig 3.15
Fig 3.16
Fig 3.17
Fig 3.18
Fig 4.1
Fig 4.2
Fig 4.3
Fig 4.4
Fig 5.1

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1. Introduction
Our Project is an Arduino based Robotic arm capable of imitating its human
arm. It uses of 4 servo motors that control each joint 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).
A flexible arm that can take ideally any shape in the three dimensions will
necessarily consist of many elements that can move concerning each other. In
order to control the shape of such a device (motion of the robot) each element
needs an actuator and sensors.
For basic modelling of this system behaviour we have to know, measure or
suppose behaviour of basic parts of flexible arm. Because the pneumatic spring
is a basic part (except servo drives and control) its mathematical model has been
created for further using in control and regulation theory. After mathematical
describing of pneumatic spring the block diagram has been created. Deduced
model of pneumatic spring has been simulated by computer and confronted with
physical experimental modelling in laboratory.

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1.1 Motivation
Robotics is a Special Branch of Engineering which deals with electronics,
designing, programming and building it up. 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 robotic prosthetic arm.
The main motivation behind this project is to help out physically disabled
people to unleash their own potential with robotic prosthetic arm rather than
simple prosthetic mechanical arm. This project will provide a new approach for
physically disabled people to live with harmony so that they could do their work
by themselves without relying on other people.

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1.2 Objectives of project
The Objective behind the project is as follows:
1) To minimize efforts of physically disabled people so that could do their
work as normal people.
2) To make use of such arms as prosthetic arms or legs to the humans as
well as to the animals.
3) To Make use of Robotic Arm 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 is also used in army to diffuse land mines. This
saves life of soldiers from being injured from explosion.
5) To minimize cost of product materials to build prosthetic arm.
6) To make use of open source electronic prototyping platform like Arduino
boards so that cost is minimized and its free for future modifications.

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1.3 Realtime Applications of robotic Arms
Figure 1

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2. System Design.
2.1 Design Process Algorithm and Flowchart
Algorithm:
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.
Flowchart:
Figure 2.1.1

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2.2 Circuit Diagram Schematics
Figure 2.2.1
Figure 2.2.2

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2.3 Electronics-implementation
Figure 2.3.1
Figure 2.3.2
Figure 2.3.3

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2.4 Arduino Programming Code for Robotic Arm.
//Robotic Arm Minor Project Program: MIT Academy of Engineering
//Omkar Rane
#include<Servo.h>
Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;
int potpin1 = 0;
int potpin2 = 1;
int potpin3 = 2;
int potpin4 = 3;
int val1;
int val2;
int val3;
int val4;
void setup()
{
myservo1.attach(6);
myservo2.attach(9);
myservo3.attach(10);
myservo4.attach(11);
Serial.begin(9600);
}
void loop() {
{
val1 = analogRead(potpin1);
val1 = map(val1, 0, 512, 0, 180);
myservo1.write(val1);
Serial.println(val1);
val2 = analogRead(potpin2);
val2 = map(val2, 0, 512, 0, 180);
myservo2.write(val2);

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val3 = analogRead(potpin3);
val3 = map(val3, 0, 512, 0, 180);
myservo3.write(val3);
val4 = analogRead(potpin4);
val4 = map(val4, 0, 512, 0, 180);
myservo4.write(val4);
delay(5);
}
}

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3. Mechanical Hardware Requirements and CAD Modelling for
robotic arm
Step 1:
Figure 3.1
Connect two link arms (003) to the Triangular link (006). Keep the M3 round
heads screws to the inner side like shown on image and nuts to the outer side.
We had design all the holes of joints quite exact to allow to make them more
precise using a drill bit. The nuts are to be tightened till the locking of the joint,
then consequently you must lose them until you obtain a smooth movement with
the lower clearance between components. This rule is valid and is to be applied
also for the following joint that involve use of nuts.

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Step 2:
Figure 3.2
Connect link (003) to the rear joint of the horizontal arm (005). The lower part
of the link (003) is to be connected with the vertical drive arm (002) as shown.
Between the two links interpose three M3 washer, this to better align them with
the vertical arm. Keep the M3 round heads screws to the inner side and nuts
outside.

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Step 3:
Figure 3.3
Connect now the two-preassembled links to the forward drive arm (004). Punt
in position horizontal arm (005) and triangular link (006) aligned with the upper
connection of the forward drive arm (004). Fix all parts with the M3x30 screw,
locked by the nut on the other side. Verify the freedom of movement and If
everything is ok, proceed to the next step.

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Step 4: Base Assembly
Figure 3.4
Part list:
· n° 1 EBA_01.00.001_base.stl
· n° 1 EBA_01.00.011_round_plate.stl
· n° 1 EBA_01.00.010_basement.stl
· n° 1 Tower Pro SG90 or MG90S servo with double arm horn
· n° 1 servo horn fixing screw
· n° 2 M3 x 15 screw (VTCEI)
· n° 3 M3 nuts

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Step 5:
Figure 3
Figure 3.5
Be sure that the servo is in the neutral position than install the double arm horn
on the splined shaft keeping the arms parallel to the servo body
Insert the horn inside the housing below the round plate and fix the servo to the
plate using one of the two long screw supplied with the servo (the small one in
too short due to the thickness of round plate)

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Step 6:
Figure 4
Figure 3.5
Put in position the base between the two shoulders on the plate and attach
together using the two M3 screws and nuts. There two hexagonal housing
below, so nuts will be kept in position during tightening

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Step 7:
Figure 3.6
Align the servo and introduce the wiring in the central part of the basement.
Gently pull the wire to make it straight while continue to push in it housing the
servo. The wire is then kept in position making it pass through a frontal hole.

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Step 8: Gripper Assembly
Figure 3.7
Part list:
· n° 1 TowerPro MG90S or SG90 servo with single arm horn
· n° 1 servo horn fixing screw
· n° 1 EBA_01.00.012_claw support.stl
· n° 1 EBA_01.00.015_drive gear.stl
· n° 1 EBA_01.00.014_left finger.stl
· n° 1 EBA_01.00.016_driven gear.stl
· n° 1 EBA_01.00.013_right finger.stl
· n° 2 M3 x 20 screw (TCEI)
· n° 3 M3 nuts

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Step 9:
Figure 3.8
Attach the servo to the claw support using the two fixing screws
supplied with the servo. Keep the output shaft forward.
Step 10:
Figure 3.9
Insert the horn in the driven gear then attach the horn at the servo shaft using
the supplied screw. The horn has to be aligned forward with the servo in
neutral position. Cut the exceeding part of the horn from gear using a cutter.

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Step 11:
Figure 3.10
Insert an M3 screw in the central hole connect it to the claw support then
tight the nut checking the freedom of movement.

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Step 12 Robotic Claw assembly:
Figure 3.11
Insert the two pins of the driven gear into the dedicated holes on the left
finger the driven gear has also a shoulder that has to be aligned with the
lateral side of the finger. If you find difficulties coupling them, reduce
interference using a file. Once coupled insert an M3 screw in the central
hole and attach the finger to the claw support. Now the gripper is ready to
be installed on the horizontal arm of the robot. Verify freedom of
movement of the gripper manually or using a servo tester.

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Step 13: Final Assembly.
Figure 3.12
Now we have the three-main sub assembly ready to be connected each
other. Next step we will join the base with the main arms. Now we have the
three-main sub assembly ready to be connected each other. Next step we
will join the base with the main arms.

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Step 14:
Figure 3.13
To join the base with the main arms, align the axis of the parts and insert
from one side the M3 screw 20mm long. Also, the short arm of the servo that
drives the vertical movement has to be inserted after the screw as shown on
the pictures. Check the freedom of movement.

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Step 15:
Figure 3.14
It’s time now to install the servo that drives the vertical movement of the
arm. Put in the dedicate receptacles two M3x12 hex screw. The servo has to
be in the neutral position with the horn at 90 degrees on the right side with
the press plate (009) installed (Make the wiring pass through the dedicated
enlargement). Introduce the servo angled in the square seat on the base plate
and slide the horn in the shaped housing of the arm that drives the vertical
movement. Fix the press plate against the servo using two M3 nuts.

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Step 16: Forward/backward Drive Servo
Figure 3.15
Sequence for the forward & backward driving servo is similar to the
previous. In this case the servo horn has to be installed with the servo in
neutral condition aligned vertically.

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Step 17: Last Link
Figure 3.16
Attach the latest link to the fixed arm on the rear side of the base using a
M3x12 a washer and a nut.
Step 18: Attaching the Gripper
Figure 3.18
The last assembly step is to join the gripper to the horizontal arm as shown
on the picture.

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4. Final Robotic Arm Assembly
Figure 4.1
Figure 4.2

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Figure 4.4

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5. Working of Robotic Arm
Figure 5.1

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6. 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, that is, respond according to the changing
environment and even autonomous, that is, capable to make
decisions on their own.
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. Robots have basic levels of complexity
and each level has its scope for performing the requisite
function.
Despite the great advancements in the field of robotics and
continuous efforts to make robots more and more
sophisticated to match the capabilities of human beings and
even surpass them, still, from a very scientific and logical
point of view, robots developed up till these days are no way
closer to human beings.
The levels of complexity of robots is defined by the members
used in its limbs, number of limbs, number of actuators and
sensors used and for advanced robots the type and number of
microprocessors and microcontrollers used. Each increasing
component adds to the scope of functionality of a robot. With
every joint added, the degrees of freedom in which a robot
can work increases and with the quality of the
microprocessors and microcontrollers the accuracy and
effectiveness with which a robot can work is enhanced.
We have successfully implemented human controlled
robotic arm which can work as per human real arm and we
look forward for further development and application all
sections of society.

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7. References
[1] https://www.thingiverse.com/thing:65081
[2] http://www.instructables.com/id/Servo-Robotic-Arm-Arduino-
Based/
[3] https://create.arduino.cc/projecthub/ChanR19/simple-
programmable-robotic-arm-bd28a0
[4] http://forum.arduino.cc/index.php?topic=271690.0
[5] https://create.arduino.cc/projecthub/circuito-io-team/robotic-arm-
from-recycled-materials-7e318a?ref=tag&ref_id=servo&offset=3
[6] https://www.arduino.cc/
[7] https://www.arduino.cc/en/Main/Education
[8] https://www.arduino.cc/en/Main/Software

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