This document describes a voice controlled robotic arm project with image processing and omni-directional movement capabilities. The 6 member student team aims to create a robotic arm that can be controlled through voice commands to pick and place objects. It will also be able to identify different colored objects using image processing in MATLAB. The arm will have 9 servo motors, a DC gear motor for movement, and mecanum wheels for omni-directional mobility. It will use an Arduino board, sensors, and a voice recognition module. The document provides details of the components, design, programming, and a budget for the project.

1. `VOICE CONTROLLED ROBOTIC ARM WITH IMAGE
PROCESSING AND OMNI DIRECTIONAL MOVEMENT
B.Tech
Automation & Robotics (7th Semester)
Team Members :
1. Jayankant Duggal (1242569)
2. Khanjan Mahanta (1242572)
3. Mohammed Rozaddin Shah (1242576)
4. Parshant Kumar Verma (1242578)
5. Rajesh Kumar Tiwary (1242583)
6. Ubaid Safi (1242588)

2. Introduction:
A robotic arm is a robotic manipulator, usually programmable, with similar function to a
human arm. Servo motots are used for arm rotation. It has the same number of degree of
freedom as in human arm. Human pick up their things without thinking about the steps
involve in it. But in case of robot or robotic arm to pick or move something, some one has to
tell it to perform several actions in a particular order- from moving Arm to rotating the
“Wrist” to opening and closing the “hand” or “fingers”. So we can control each joint through
a computer interface.
The most important features of our Robotic arm is the voice control and image sensing
method.In case of voice controlled methodology we can perform all the task as robotic arm
do tho voice command and also we can perform pick or place operation of any object from
one place to another. For this purpose we will use a voice control module,which will receive
the signal from the user and convert into a electrical signal. Through Arduino we can
perform the coding of the module. By using coading we will get the desired output.
When it comes to image processing,we can perform another task of the robotic arm. To
perform this step we have to use image processing on matlab. When we use image
processing we can pick up different type of colour object by the arm as per given command
through the computer.
Salient features:
1. The arm has 9 motors which are controlled through arduino uno R3 (Arduino mega
can also be use)
2. This can grab an object approximately in a hemisphere of 300mm.
3. The arm is not that much complecated as we think.
4. It can lift a weight of approximately 300 gm.
5. Keeping the design of robotic arm griper simple, as well as implementing gripper
mechanism without using gears and with one servo motors.
6. We will further modify the robotic arm in matlab using graphical interface to
implement the image processing.
7. The voice control is the main feature of this prototype robotic arm.
8. Johnson motor is used for movement of its basement.
9. Mecanum wheel is used for its movement from one place to another.

3. Major Components used for the project:
1.Servo motors:
Servo refers to an error sensing feedback
control which is used to correct the
performance of a system. Servo motors are
DC equipped servo motors equipped with a
servo mechanism for precise control of
angular position. The servo motors usually
have rotation limit of 360 degree.
2. Johnson DC geared motor:
12v DC geard motor-60 RPM torque
Rotation per minute: 60
Output torque range: 5kg-7kg cm
Shaft length: 15mm
Motor dia meter: 28.5mm
Gearbox diameter: 37mm
Weight-300gm
Load current= upto 9.5mA (Max)
3. Mecanum wheel:
This is a special type of wheel which is used
to move a vehicle in any direction. It is a
conventional wheel with a series of rollers
attached to its circumference. These rollers
typically each have an axis of rotation at 45
degree to the plane of the wheel and at 45
degree to a line through the centre of the
roller parallel to the axis of rotation of the
wheel.

4. 4. Arduino Uno R3:
The Arduino UNO R3 is a microcontroller
board based on the ATmega328. It has 14
digital input/output pins (of which 6 can be
used as PWM outputs), 6 analog inputs, a 16
MHz crystal oscillator, a USB connection, a
power jack, an ICSP header, and a reset
button. It contains everything needed to
supportthe 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.
In Robotic arm it is used to controland
drive the motors and the peripherals along
with it
5. Arduino SensorShield & Motor Driver:
Sensor Shield allows us to connect to various
modules like sensors, servos, relays, buttons,
potentiometers. Each functional module has
buckled port with VCC, GND and Output,
which has correspondingport on the Sensor
Shield, connected with a plain 2.54mm dual-
female cable. We only need to consider that
how to read data coming from the sensorby
program in arduino.
Motor Driver circuits allows us to control the
Dc geared motors in our project as they
couldn’t be directly actuated by the arduino
board ;current required by motor is high so
this need of the motor is accomplished by the
motor driver by supplying it with different
current ratings apart from the microcontroller
circuit.
Sensor Shield
Motor Driver Circuit

5. Steps to be followed during the construction of Robotic Arm:
1. Dummy wooden model.
2. Experimental models made with wood for Kinematic and Dynamic analysis.
3. Final metallic made model of robotics arm.
4. Putting the robotic arm on remote control.
5. Running arm with help of arduino board through predefined programming without
sensors.
6. Testing with of sensors and synchronizing with the robotic arm.
7. Mounting sensors on the robotic arm.
8. Making the robotic arm autonomous.
9. Running it with the help of arduino board and sensors.
10.Designing and cutting of the mecanum wheels.
11.Running mobile platform of robotic arm on mecanum wheels.
12.Integration of mobile platform with robotic arm.
13.Testing of voice module.
14.Running robotic arm on voice module.
15.Running the whole system i.e. arm along with the platform on the voice module.
16.Testing the Image processing code on MATLAB.
17.Modifying the arm with camera such that it will assist the robotic arm for object
detection.
18.Integrating everything together to make a fully autonomous robotic arm.

6. 2D view of robotic Arm:
3D view of robotic Arm:

7. Project Estimate:
S.No Component Qty Price
1 Robotic Claw-MK11 1*1060 1060
2 Arduino Uno R3 with USB cable 1*870 0870
3 Tower Pro MG996R servo motor(10 kgcm) 3*800 2400
4 Tower Pro MG995 servo motor(13 kgcm) 3*875 2625
5 HC-SR04 Ultrasonic sensor module 1*175 0175
6 XQ Power servo S5040D 1*4800 5000
7 XQ Power servo S5030D 1*3000 3500
8 Johnson DC geared motor
(Torque 70-80 kgcm)
4*900 3600
9 Johnson DC geared motor
(Torque 90-120 kgcm)
1*1200 1200
10 Mechanical components ,Miscellaneous
Metal sheets and material, Poly-carbonate
sheet, Acrylic sheet and Wooden material
- 5000
11 PCB’s and PCB etching and designing
material along with PCB drill.
- 1450
12 Electronic components(different pin type
connectors ,cables, wires, regulator, pots etc)
500+800
+500+400
2100
13 SMPS 1*1200 1200
14 Voice recognition Module (Easy VR Arduino
shield 3.0)
1*4500 4400
15 Sensor shield for arduino 1*1800 1800
16 Glue gun and sticks 1*500 500
TOTAL 39180

8. To
The HOD
Automation and Robotics
Subject: Regarding extension of members of our project
Respected Sir
With due regards and respect, we wantto informyou that we making the major
projecton VOICE CONTROLLED ROBOTIC ARM WITH IMAGEPROCESSING AND OMNI
DIRECTIONAL MOVEMENT. Butdueto high investment costwe are unable to progress
further on our project.
As per the PTU norms the maximum team mustbe not exceed four persons. In a deposition
to successfully complete our projectwe are increasing our team length fromfour persons
to six persons
Please grant us to permission to extend our team length. The team members for the
mentioned major projectare mentioned below:
1. Jayan kant Duggal (1242569)
2. Khanjan Mahanta (1242572)
3. Mohammed Rozaddin Shah (1242576)
4. Parshant Kumar Verma (1242578)
5. Rajesh Kumar Tiwary (1242583)
6. Ubaid Safi (1242588)
Thank you
Er. Sukhraj Singh
(HOD, Automationand Robotics)