Mariano Marcos State University

College of Engineering
Institute of Computer Engineers of the
Philippines. Student Edition
City of Batac

“CONTROLLED ROBOTIC ARM”

AGUSTIN, BRANDON M.
RAMIRO, SHAINALYN CHERISH C.

BS CPE IV-B

ENGR. VLADIMIR IBANEZ

(Instructor)

May, 2019
 INTRODUCTION

Nowadays Robots have become a subject of great interest. In our imagination, a robot is a
machine that looks and acts like human being. Robots are, in fact, define as man-made mechanical
devices that can move by themselves, whose motion must be modelled, planned, sensed, actuated and
controlled, and whose motion behaviour can be influenced by programming. People nowadays always
admired the modern manufacturing technologies and the important role played by these machines in
different areas of manufacturing such as lifting materials.

Problem Statement

1) The control task is to move the robot arm from an initial position to final position.

Background of the Study

An industrial robot is defined by ISO 8373 as an automatically controlled, reprogrammable,

multipurpose manipulator programmable in three more axes. The most important of production line has
shifted dramatically from human labour to automated machinery over the last 30 years.

Objectives

(A) Design Work

The controlled robotic arm design is based on a robot manipulator with similar
functions to a human arm. Robotic arm system often consist of links, joints, actuators and
controllers. A links is connected by the joints.

In that figure shows the free diagram of robotic arm. A robotic arm with only
four degrees of freedom is designed because it is adequate for most of necessary
movement. At the same time, it is competitive by its complexity and cost-saving as
number of actuators in the robotic arm increases with degrees of freedom.
The robotic arm has four servo motors, each motor for one degrees of freedom
(DOF) and the motors operate with 5 volts. There are four rotating degrees of freedom
(DOF) in the arm and their ranges of rotation are indicated the table below.

Degrees of Freedom (DOF) Degrees

1 180
2 90
3 90
 4 0-100 opening

(B) Fabricate
In this robotic arm design and develop the mechanism for robotic arm for lifting and
program to accomplish accurately simple light material lifting task. 3D printing method is used in
this project to fabricate the components of the robotic arm. The robotic arm is equipped with 4
servo motors to link the parts and bring arm movement and it has a potentiometer to control the
movement of the robot.
A potentiometer is a three terminal resistor with a sliding contact that forms an
adjustable voltage divider for measuring the electric potential (voltage). It is commonly use in
many electrical devices such as volume controls in audio equipment, position transducers, signal
adjustment and etc. In the RGB is just only an indicator.
Arduino Uno, an open source computer hardware and software applied to control robotic
arm by driving servo motors to be capable to modify the position. An IR means undetectable
to the human eye perfect for wireless communication. The DC Motor is rotating
motors and generators which perform their energy conversions through the
interaction of magnetic fields created using coils of wire which form
electromagnets interacting with one another in fact the DC Motor is just only a
beautification in our project. The HC-Bluetooth use this module to communicate two
microcontrollers like Arduino or communicate with any device with Bluetooth
functionality like a phone.
(C) Test
The robotic arm is under testing and validating its performance and the results indicates
that it can perform the lifting task properly

Review of Related Literature

Methodology

Result and Discussion

Conclusion

This paper presents the design and development of a robotic arm for light material lifting
application. The robotic arm is drafted using computer aided design software. 3D printing to save cost and
time. The robotic arm is made up of PLA (Polylactic acid) plastics. The actuator used to perform arm
movement is 4 servo motors. The servo motor is controlled an Arduino Uno through coding. Due to the
limitation of the servo motor , the movement range of the robotic arm is restricted within 180 degrees left
and right and for the up and down is 90 degrees. The robotic arm is designed with four degrees of
freedom because it is suitable for most of the application included lifting. Therefore, it can be cost-
effective and simple construction by using only 4 actuators. The robotic arm parts are joined together by
fastener: screws and nuts. For the robotic arm control, the system mainly consisted of IR components, a
HC-Bluetooth module which control the power (on and off) the robotic arm and also the DC Motor.
Another componets is the servo motor, a user interface of Servo Arduino allows the user to control the
movement without any training needed so the robotic arm is user-friendly and the Arduino
microcontroller is cheaper and easier to be programmed compared to other. In addition controlled robotic
arm it can also controlled using a potentiometer. These controlled robotic arm is set up to test
performance of the robotic arm by varying the load to be lifted; lifting mechanism of a robotic arm.