PROGRAMMABLE OMNIDIRECTIONAL ROBOTIC ARM VEHICLE

ABSTRACT

Industrial sector is growing at an enormous pace. Thus industrial automation is of key essence in
todays world. All automation processes require pick and place mechanisms to transfer, rotate
products moving on production tables or conveyors. But unlike a human worker who can pick up
a product/material take it to some other workstation for a different process and place it on
another, robotic arms are fixed at a location and cannot move to other locations.
Well we here solve this problem by designing a 4 DOF robotic arm that can not only pick and
place objects but also move freely in any direction throughout the warehouse while performing
automatic tasks.

INTRODUCTION

The system makes use of an arduino Mega that interfaced with 4 x Stepper motors 6 x Servo
Motors along with a Bluetooth module for communication to develop this robotic system. The
stepper motors are integrated with mecanum wheels to allow for all direction motion.

We hereby use an android controller app to control the robot. The app connects to the robotic
vehicle using a Bluetooth connection. Once connected we may now pass commands to the robot
using manual or saved program for automatic operation.

When in manual mode the android app allows for manual control of robot using the direction
keys pressed on android app screen. User may control the arm movements as well as robot
movement using movement keys. The app provides sliders to control arm movements and a
direction keypad to control movement directions.

When the user sands an arm motion command, the app sends the signal via Bluetooth connection
over to the Bluetooth receiver module. The module now transmits this command over to the
Arduino mega controller. The mega controller decodes this command and operates the required
servo motors to achieve the desired arm motion as per user commands.

If the user wishes to operate the vehicle movement, he needs to press the movement keys on app
screen. On pressing a movement key the app again transmits the movement command over a
Bluetooth connection to the Bluetooth module connected to the arduino controller. Arduino
controller decodes it and operates the specific stepper motors in specific direction to achieve the
desired robotic motion.

Now many industrial processes involve repetitive tasks. These tasks may involve picking up a
product at a workstation or conveyor and placing them inverted at another workstation. The
system allows user to train the robotic system using a program and save the program so that the
robot may execute the program in a loop and keep performing such complicated tasks
repetitively.
BLOCK DIAGRAM
Automated is characterized as the investigation, plan and utilization of
mechanical frameworks for assembling. With the ascent in assembling
modern exercises, a mechanical arm is developed to assist different
businesses with playing out an errand or work as opposed to utilizing labor.
Robots are for the most part used to perform risky, dangerous, profoundly
redundant, and disagreeable assignments. Robot can perform material
taking care of, gathering, curve welding, obstruction welding, machine
apparatus stack and dump capacity, painting and splashing, etc [3, 4]. It is
extremely valuable since it has high exactness, insight and unending energy
levels in managing job contrasted with individual. For a model, a
mechanical arm is generally utilized in the amassing or loading line by
lifting the little items with redundant movement that human couldn't
tolerate doing in a significant stretch of time. The light material lifting
errand should be possible by the mechanical arm effectively and efficient
on the grounds that it isn't confined by weariness or wellbeing chances
what man may insight. There are fundamentally two distinct kinds of robots
which are administration robot and a modern automated. Administration
robot is worked semi or completely self-sufficiently to perform
administration helpful to the prosperity of people and hardware with the
exception of assembling operation [6-8]. Then again, modern robot is
formally characterized by ISO as a naturally controlled and multipurpose
controller programmable in at least three hub.

A mechanical robot is a re-programmable multifunctional controller

configuration to move material, parts, instruments, or concentrated gadgets
through factor modified movement for execution of an assortment of
undertakings. This is the
Definition from the Robot Institute of America to reflect primary highlights of
current robot frameworks. A modern robot framework can incorporates any
gadgets or sensors along with the mechanical robots to play out its
undertakings just as sequencing or checking correspondence interfaces [3, 9].

In 1970, Stanford University built up a PC controlled robot arm with electric

drive engines, known as Stanford Arm. In 1973, the main modern robot
outfitted with a minicomputer-based control framework was created in
Cincinnati Milacron Corporation. In 1977, an European organization, ASEA,
additionally created electrical fueled modern robots furnished with the
microcomputer-based control frameworks. Around the same time, a robot
vision framework was created by Stanford Research Institute (SRI) at Stanford
University. In 1978, the Puma (programmable widespread machine for
gathering) robot was created dependent on the Stanford arm in America. This
robot utilizes servomotors furnished with a high level control framework
utilizing a couple of microchips and advance programming. In 1079, Sankyo
and IBM built up the popular SCARA (particular agreeable explained robot
arm) at Yamanashi University in Japan.

In 2007 the world market developed by 3% with around 114,000 new

introduced mechanical robots. Toward the finish of 2007, there were around
1,000,000 mechanical robots being used, compared with an expected 50,000
help robots for modern use.

Aside from mechanical utilization, the automated arms likewise intended to

mimic human development with high exactness. A plan of mechanical arm
which can move, weight lifting, Chinese calligraphy composing and shading
order is finished by a gathering of Korea understudies. There is additionally an
eight level of opportunity automated arm planned by a gathering of USA
engineers. It can get a handle on numerous articles with a great deal of shapes
structure a pen to a ball and invigorating additionally the hand of person.
Besides, mechanical arm with various level of opportunity have been utilized
to perform assortment of assignments in space application. The framework is
known as Space Shuttle Remote Manipulator System (SSRMS) or Canadarm.
Automated arm's undertakings in the space included investigations of room
transport utilizing an extraordinarily conveyed blast with cameras and sensors
joined toward the end effecter and satellite sending and recovery moves from
the payload narrows of the space transport.
This current work is completed at University Malaysia Pahang, Malaysia, the
principle center is to configuration, create of a system of mechanical arm for
lifting reason with short expense, precise and prevalent control. Automated
arm with four levels of opportunity had the option to perform basic errands
particularly light material taking care of for modern application

Fig.1 PROJECT PROTOTYPE

 1.1 HARDWARE AND SOFTWARE REQUIREMENTS
1.2 HARDWARE REQUIRED
▪ ARDUINO UNO MICROCONTROLLER
▪ HC05 BLUETOOTH RECEIVER
▪ POWER SUPPLY UNIT
▪ ROBOTIC ARM MODEL
▪ CONNECTING WIRES
▪ SOLDERING KIT
1.2.1 SOFTWARE REQUIRED
▪ EMBEDDED C
▪ ARDUINO – IDE

1.3 DESIGN WORK

1.3.1 ROBATIC ARM

THE MECHANICAL PLAN OF THE ROBOT ARM DEPENDS ON A ROBOT
CONTROLLER WITH COMPARATIVE CAPACITIES TO A HUMAN ARM.
AUTOMATED ARM FRAMEWORK REGULARLY COMPRISES OF CONNECTIONS,
JOINTS, ACTUATORS, SENSORS AND REGULATORS. THE CONNECTIONS ARE
ASSOCIATED BY JOINTS TO FRAME AN OPEN KINEMATIC CHAIN. ONE FINISH
OF THE CHAIN IS CONNECTED TO THE ROBOT BASE, AND ANOTHER END IS
OUTFITTED WITH A DEVICE (HAND, GRIPPER, OR END-EFFECTORS) WHICH IS
COMPARABLE TO HUMAN HAND TO PERFORM GATHERING AND DIFFERENT
ERRANDS AND TO INTERFACE WITH THE CLIMATE. THERE ARE TWO KINDS
OF JOINT WHICH ARE KALEIDOSCOPIC AND ROTATING JOINTS AND IT
ASSOCIATE ADJOINING JOIN.
 1.4 TWO TYPE OF JOINT IN ROBBOT

The connections of the controller are associated by joints permitting rotational

movement and the connections of the controller is considered to shape a
kinematic chain the Free Body Diagram for mechanical plan of the automated
arm. A mechanical arm with just four levels of opportunity is planned on the
grounds that it is satisfactory for the vast majority of the important
development. Simultaneously, it is serious by its intricacy and cost-saving as
number of actuators in the automated arm increments with levels of
opportunity. In a mechanical framework, the quantity of levels of opportunity is
controlled by the quantity of autonomous joint variable
 FREE BODY DIAGRAM OF THE ROBOTIC ARM.

1.5 NUMBER OF DEGREES FOR SPECIFIC DOF

THE AUTOMATED ARM HAS FOUR SERVO ENGINES, EACH
ENGINE FOR ONE DOF AND THE ENGINES WORK WITH 6 VOLTS.
THERE ARE FOUR PIVOTING DOF IN THE ARM AND THEIR
SCOPES OF REVOLUTION ARE DEMONSTRATED IN THE TABLE
1.
Table:1.5.1
Degrees of Degrees
Freedom(DOF)
1 180
2 90
3 90
4 90

The zone that the gripper alleged as end-effecter can reach is known as robot
workspace. It relies upon the DOF and interpretation restriction, the arm
interface lengths, the point at which something should be gotten up robot
arrangement. shows the ordinary work district of the mechanical arm with four
level of opportunity (4 DOF)[3].
1.6 WORK REGION OF THE ROBOTIC ARM
By using Autocad software, the finalized design is as follow.
 FIG 1.6.1

1.7 AUTOCAD ASSEMBLY OF PARTS.

This is a help for the automated arm and will be fixed at base. The plan

is somewhat more extensive at the base and skewed at 20 o degree to the top.
The rib configuration is added to the part to build firmness because of burden
applied to the part plan. It changed the math of the part and it is down to earth
and practical to build the primary strength of a section. In addition, this part has
a tetragonal shape to disperse the heap equally as it is needed to help huge
burden applied by the item to be lifted,
 servo engine and connection. This appendage is intended for rotational reason
and furthermore the engine for up-down movement of the mechanical arm. The
overhanging part is the place where the wires will be associated and afterward
incited by the servo engine at the base. Engine lodging is pleasantly found a
way into the empty piece of the appendage. This is moreover

the linkage to the following part for up-down movement. The accompanying
appendage appeared underneath is planned with most extreme broadening shape
just as the zone for engine to be fit in. The lower part is associated with the past
appendage utilizing an interfacing wire. This part comprises of the fundamental
piece of the automated arm as it houses the engine for gripper. The gripper will
be associated with this appendage and constrained by the engine through the
interfacing wire. The gripper comprises of lower and upper paw. It is planned
that the lower paw is fixed at a specific point on the past appendage and the
moving upper hook to the engine. The state of the hook is croissant and it can
expand the grasping presentation.

1.8 ACTUATORS

Actuators are gadgets that cause revolving joints to turn about their movement
tomahawks, or drive kaleidoscopic joints to slide along their movement
tomahawks. By and large, there are three sorts of central activating frameworks
utilized in robot frameworks: water driven impelling frameworks, pneumatic
inciting frameworks, and electrical impelling frameworks. In our plan, we are
utilizing electrical impelling frameworks. DC engines and stepper engines are
utilized to impel the development of the mechanical arm. This is on the grounds
that this framework can be controlled effectively and the servo engine can give
a quick reaction, high precision, included encoders which consequently give
input to the engines and flexibility of position accordingly[3, 7]. ]. This sort of
actuator is reasonable for little robots. Nonetheless, the hindrances of the servo
engine is that turn range is under 180o range, in this way the district came to by
the arm and potential positions are significantly decrease[7, 24]. As we have 3
joints in the mechanical arm, we need to set up 3 regulators to control every
single joint actuator. Choosing appropriate engine for the application is
significant in the plan
stage which choice is made dependent on force and the speed of the engine.
Power figuring of joint guarantees that the engine picked can uphold the
heaviness of the automated arm and furthermore the heap which should be
conveyed. Servo engines is suggested when high force and exact speed wanted
by the client. For just situating without requiring a high force, stepper engines
are utilized in the application.

Force is the propensity of power to turn an item about a hub. Numerically, force
is characterized as the cross result of the switch arm distance and power, which
will in general create turn for example
T=F*L Nm[25]
Where, F=force acting on the motor
L=length of the shaft
Force, F is given by,
F=m*g N[5]
Where, m=mass to be lifted by the motor

g=gravitational constant=9.8 m/s

1.8.1 VIEW OF LOADS/MOMENTS ON JOINTS

 1.8.2 FORCE DIAGRAM OF LINK 1.
In light existing apart from everything else determined, an appropriate servo
engine was chosen, is, which has a force of 152.8 oz-in to agree with the force
necessity of the automated arm. They can turn 60 degrees in 15millionsecond
and weight of 55.0 grams each. For the gripper, a miniature servo with 9 grams
and 0.12sec/60 degrees is utilized on the grounds that very little force expected
to work the grasping interaction because of the light weight of gripper. In the
mechanical arm, 4 servo engines are utilized.

1.9 Engines filled various needs at each piece of the

mechanical arm:

• Motor 1 for rotational movement.

• Motor 2 for elbow development.

• Motor 3 for wrist development.

• Motor 4 for grasping movement.

 CHAPTER -2

2. Writing SURVEY:

2.1 Point: Gesture Controlled Mobile Robotic Arm Using

Accelerometer

Creator: Girish Solanki

DATE: 2017

Depiction:

In this paper we have introduced a model to control automated arm through

human signals utilizing accelerometer. A three hub accelerometer is mounted
on human hand to play out the activity of mechanical arm as per the activity of
human hand. Accelerometer is associated with the Atmega 16 Microcontroller
which is customized to take simple readings from accelerometer and
communicate them utilizing RF transmitter to the accepting unit at mechanical
arm. Developments of the automated arm are accomplished through Servo-
Motor are a kind of electromechanical actuators that don't pivot ceaselessly like
DC/AC or stepper engines; rather, they are utilized to position and hold some
article. They are utilized where persistent turn isn't needed so they are not used
to drive wheels (except if a servo is altered). The arm is likewise outfitted
with a gripper to encourage the pick and drop facility.The entire game plan
is put on a portable stage with wheels to encourage development starting with
one spot then onto the next which can be controlled utilizing a remote
controller. The principle point is to control the automated arm utilizing human
signals remotely with smooth development over a reach.
Theme: ROBOTIC VEHICLE MOVEMENT AND
ARM CONTROL THROUGH HAND GESTURES
USING ARDUINO

2.2 Creator: N Meenatchi Sundaram

DATE: 2018

Portrayal:

Mechanical vehicle development and Arm control through hand signals

utilizing arduino is an assistive robot framework for easy to use support,
emergency clinic tasks, and dangerous climate and to build the self-rule of
actually impeded individuals. It is a sort of practical supplanting hand
coordinated with the moving vehicle that guides the amputees frequently
experiences actual challenges. The excellent point of this framework is to
make it attainable to communicate with the robot through the acknowledgment
of hand motions for the genuinely tested individuals. This is an
electromechanical framework wherein the mechanical arm can be constrained
by a basic inertial route sensor called accelerometer. Also the delicate
getting gripper associated with the automated arm can be constrained by flex
sensor. The signal orders estimated by the accelerometer and flex sensor are
handled by the arduino regulator. The arduino regulator is utilized in both the
transmitter and collector circuits, it reacts dependent on the information given
through the hand motions. The signs get sent and gotten by cutting edge remote
nRF correspondence framework. The mechanical vehicle can move on the
whole conceivable four bearings (forward, in reverse, both ways). The various
activities performed by the automated arm are picking and setting the articles
starting with one area then onto the next area. For the controlling of the engine,
engine driver IC and arduino regulator is utilized. This framework gives more
regular and advantageous approaches to communicate their aims and
associations with the climate.
2.3 Point: Real time hand development controlled automated arm
for hazard counteraction

Creator: Shamman Noor

DATE: 2017

Depiction:

In this paper, we propose an "Counterfeit Human Hand Model" which can

accurately follow the genuine developments of human hand through picture
preparing accordingly keeping away from sensor clamor and harm and giving
more customizable reaction. Webcams are utilized to catch the hand pictures
followed by Morphological picture preparing to separate data from human hand
development. The five levels of opportunity carried out in the proposed
technique are turn of base, arm like movements, elbow like movements, grasp
movements, and pivot of hold. The robot hand is controlled effectively utilizing
human hand development, where the situation can get, control and move objects
from one spot to other with accuracy. The client can handle the hand totally
dependent on his/her aims to achieve the necessary undertaking. Our proposed
constant technique for carrying out human hand development likewise
guarantees immediate control and execution. Inaccessible control of the
mechanical hand guarantees total security to human, yet additionally permits
adaptability in controlling removed items. By and large, our proposed
framework can ensure wellbeing, adaptability and precision in performing
touchy undertakings in everyday life subsequently offering appropriateness for
hazard anticipation.
2.4 Subject: A Gestures Recognition Based Approach for
Human-Robot-Interaction

Creator: A. Freddi

DATE: 2018

Depiction:

This work proposes a mechanical controller aide for incapacitated clients as

well as for older individuals with restricted engine abilities. In detail, the
association among the robot and the client depends on the client motions
acknowledgment. The client picks an article among those accessible by moving
his/her arm in a particular posture, which is perceived by utilizing an outside
camera. At that point, pictures of the articles open to the robot are obtained by
means of the robot camera, situated toward the finish of the robot arm, and are
dissected by a Support Vector Machine classifier to perceive the client chose
object. At last, the controller picks the article and places it on the client's hand,
whose area in the Cartesian space is resolved through the outside camera and
refreshed on the web.
 CHAPTER -3
Aim and Scope:

Moving robotic arm is use to move the one object to a other place and
using the bluetooh device , A mechanical robot is a re- programmable
multifunctional controller configuration to move material, parts,
instruments, or concentrated gadgets through factor modified movement for
execution of an assortment of undertakings. This is the definition from the
Robot Institute of America to reflect primary highlights of current robot
frameworks. A modern robot framework can incorporates any gadgets or
sensors along with the mechanical robots to play out its undertakings just as
sequencing or checking correspondence interfaces [3, 9].

In 1970, Stanford University built up a PC controlled robot arm with

electric drive engines, known as Stanford Arm. In 1973, the main modern
robot outfitted with a minicomputer-based control framework was created
in Cincinnati Milacron Corporation. In 1977, an European organization,
ASEA, additionally created electrical fueled modern robots furnished with
the microcomputer-based control frameworks. Around the same time, a
robot vision framework was created by Stanford Research Institute (SRI) at
Stanford University. In 1978, the Puma (programmable widespread
machine for gathering) robot was created dependent on the Stanford arm in
America. This robot utilizes servomotors furnished with a high level
control framework utilizing a couple of microchips and advance
programming. In 1079, Sankyo and IBM built up the popular SCARA
(particular agreeable explained robot arm) at Yamanashi University in
Japan.

3. POWER SUPPLY
For huge robots, an inside burning motors is utilized to produce the power or to
control water driven or pneumatic actuator. In any case, DC power source
usually used to supply a steady voltage to the little robots and circuit that should
be worked inside certain force limit[5]. Batteries are generally protected,
modest, little and simple to use[2]. Nonetheless, there is intricacy in wiring in
this manner a force for the mechanical arm is provided by the PC through USB
port. This is on the grounds that mechanical arm performs consistently under
AC power source.

4. 3D-PRINTING

For this undertaking, the automated arm is created by utilizing 3D printing with
the material of PLA. The upsides of 3D printing are time and cost saving and
high accuracy on measurement contrasted with metal creation. Makerbot
programming was utilized to import the printing information to the machine,
Creator. After set up the printer, each part requires around 2 hours to finish the
printing interaction. Setup of the setting are set to standard and default, the
extruder and stage temperatures are 230 o C and 110o C individually.

5. MICROCONTROLLER

Microcontroller produces beats which are needed by the servo engines to

create a movement to make the mechanical arm working. The control for the
automated arm comprises essentially of three levels: a microcontroller, a driver,
and a PC based UI Thus, the mechanical arm is incorporated by subsystem,
microcontroller to empower it to play out a lifting task.

So, the microcontroller interfaces every one of these parts underneath. A short
rundown of electrical segments included

5.1 Micro Servo Motor

1) Servo Motor
2) Voltage Regulator 5V
3) Capacitor
4) Connecting Wire
 5) Breadboard
6) Arduino UNO

Fig;5.1.1

6. ARDUINO MICROCONTROLLER BOARD USED

TO CONTROL THE ARM MOTION.

Arduino board consists of the following parts:

• USB connector
• Power connector
• Automatic power switch
• Digital pins
• Analog pins
• Power pins
• Reset switch
 CHAPTER - 4

4.1 ATMEGA328 IC

DESCRIPTION

The ATmega328 is a single-chip microcontroller created by Atmel in

the mega AVR family. The Atmel 8-bit AVR RISC-based microcontroller
combines 32 kB ISP flash memory with read-while-write capabilities, 1 kB
EEPROM, 2 kB SRAM, 23 general purpose I/O lines, 32 general purpose
working registers, three flexible timer/counters with compare modes, internal
and external interrupts, serial programmable USART, a byte-oriented 2-wire
serial interface, SPI serial port, 6-channel 10-bit A/D converter (8-channels in
TQFP and QFN/MLF packages), programmable watchdog timer with internal
oscillator, and five software selectable power saving modes. The device
operates between 1.8-5.5 volts. The device achieves throughput approaching 1
MIPS per MHz.

4.1.1 ATmega328P IC
 4.1.2 PIN DIAGRAM

High Performance, Low Power Atmel®AVR® 8-Bit Microcontroller

Family

• Advanced RISC Architecture

□ 131 Powerful Instructions

□ Most Single Clock Cycle Execution

□ 32 x 8 General Purpose Working Registers

□ Fully Static Operation

□ Up to 20 MIPS Throughput at 20MHz

□ On-chip 2-cycle Multiplier

 • High Endurance Non-unpredictable Memory
Segments

 4/8/16/32KBytes of In-System Self-

Programmable Flash program memory

□ 256/512/512/1KBytes EEPROM

□ 512/1K/1K/2KBytes Internal SRAM

□ Write/Erase Cycles: 10,000 Flash/100,000

EEPROM C(1)C/100 years at 25̶ Data
maintenance: 20 years at 85

□ Optional Boot Code Section with Independent Lock

Bits In-System Programming by On-chip Boot
Program

□ True Read-While-Write Operation

□ Programming Lock for Software Security Atmel®

QTouch® library support

□ Capacitive touch catches, sliders and wheels

QTouch and QMatrix® securing

□ Up to 64 sense channels

• Peripheral Features

□ Two 8-cycle Timer/Counters with Separate Prescaler

and Compare Mode

□ One 16-bit Timer/Counter with Separate Prescaler,

Compare Mode, and Capture Mode

□ Real Time Counter with Separate Oscillator

□ Six PWM Channels

□ 8-direct 10-bit ADC in TQFP and QFN/MLF

bundle

□ Temperature Measurement

□ 6-direct 10-bit ADC in PDIP Package

□ Temperature Measurement

□ Programmable Serial USART ̶ Master/Slave SPI

Serial Interface

□ Byte-arranged 2-wire Serial Interface (Philips I2 C

viable)

□ Programmable Watchdog Timer with Separate On-

chip Oscillator

□ On-chip Analog Comparator

□ Interrupt and Wake-up on Pin Change

4.1.3 ARCHITECTURE DIAGRAM
 CHAPTER - 5

5. Special Microcontroller Features

□ Power-on Reset and Programmable Brown-out Detection

□ Internal Calibrated Oscillator

□ External and Internal Interrupt Sources

Six Sleep Modes: Idle, ADC Noise Reduction, Power-save,

Power-down, Standby, and Extended Standby

•I/O and Packages

23 Programmable I/O Lines

28-pin PDIP, 32-lead TQFP, 28-cushion QFN/MLF and 32-

cushion QFN/MLF

•Operating Voltage: 1.8 - 5.5V

•Temperature Range: - 40 CC to 85

•Speed Grade: 0 - [email protected] - 5.5V, 0 - [email protected] - 5.5.V, 0

- 20MHz @ 4.5 - 5.5V C
• Power Consumption at 1MHz, 1.8V, 25

□ Active Mode: 0.2Ma

□ Power-down Mode: 0.1µA

□ Power-save Mode: 0.75µA (Including

32kHz RTC)

5.1 PIN DISCRIPTION

VCC Digital stock voltage

GND Ground.

5.2 Port B (PB7:0) XTAL1/XTAL2/TOSC1/TOSC2

Port B is a 8-bit bi-directional I/O port with inward draw up resistors (chose for
each piece). The Port B yield cushions have balanced drive qualities with both
high sink and source capacity. As information sources, Port B sticks that are
remotely pulled low will source current if the draw up resistors are initiated.
The Port B pins are tri-expressed when a reset condition becomes dynamic,
regardless of whether the clock isn't running. Contingent upon the clock
determination combine settings, PB6 can be utilized as contribution to the
transforming Oscillator speaker and contribution to the inside clock working
circuit. Contingent upon the clock determination combine settings, PB7 can be
utilized as yield from the reversing Oscillator intensifier. On the off chance that
the Internal Calibrated RC Oscillator is utilized as chip clock source, PB7..6 is
utilized as TOSC2..1 contribution for the Asynchronous Timer/Counter2 if the
AS2 chomped in ASSR is set.
5.3 Port C (PC5:0)

Port C is a 7-piece bi-directional I/O port with inward draw up resistors (chose
for each piece). The PC5 0 yield cradles have balanced drive qualities with both
high sink and source ability. As sources of info, Port C pins that are remotely
pulled low will source current if the draw up resistors are initiated. The Port C
pins are tri-expressed when a reset condition becomes dynamic, regardless of
whether the clock isn't running.

5.4 PC6/RESET

On the off chance that the RSTDISBL Fuse is modified, PC6 is utilized as an
I/O pin. Note that the electrical attributes of PC6 contrast from those of
different pins of Port C. On the off chance that the RSTDISBL Fuse is
unprogrammed, PC6 is utilized as a Reset input. A low level on this pin for
more than the base heartbeat length will produce a Reset, regardless of whether
the clock isn't running. The base heartbeat length is given in Table 28-3 on page
308. More limited heartbeats are not ensured to create a Reset.

5.5 Port D (PD7:0)

Port D is a 8-bit bi-directional I/O port with inside pull-up resistors (chose for
each piece). The Port D yield cradles have even drive qualities with both high
sink and source capacity. As data sources, Port D pins that are remotely pulled
low will source current if the draw up resistors are initiated. The Port D pins are
tri-expressed when a reset condition becomes dynamic, regardless of whether
the clock isn't running.

5.6 AVCC
AVCC is the inventory voltage pin for the A/D Converter, PC3:0, and ADC7:6.
It ought to be remotely associated with VCC, regardless of whether the ADC
isn't utilized. On the off chance that the ADC is utilized, it ought to be
associated with VCC through a low-pass channel. Note that PC6..4 utilize
computerized supply voltage, VCC

5.7 AREF

AREF is the simple reference pin for the A/D Converter

5.8 ADC7:6 (TQFP and QFN/MLF Package Only)

In the TQFP and QFN/MLF bundle, ADC7:6 fill in as simple contributions to

the A/D converter. These pins are controlled from the simple stockpile and fill
in as 10-digit ADC channels.
 CHAPTER – 6
6. BLUETOOTH

6.1 Depiction

Bluetooth is a remote innovation standard for trading information

over brief distances (utilizing short-frequency UHF radio waves in the
ISM band from 2.4 to 2.485 GHz) from fixed and cell phones, and
building individual zone organizations (PANs).

6.1.1 BLUETOOTH MODULE

Designed by telecom merchant Ericsson in 1994, it was initially

imagined as a remote option in contrast to RS-232 information
links. It can interface a few gadgets, conquering issues of
synchronization.

Bluetooth UART empowers you to remote send and get sequential

information. Gadgets furnished with Bluetooth innovation support
remote highlight point associations, just as remote admittance to cell
phones. You can just utilize it for sequential port substitution to set up
association among MCU and PC for information move

6.1.2 BLUETOOTH INTERFACE WITH ARDUINO

It delivers the received data and receives the data to be transmitted to

and from a host system through a host controller interface.
6.2 FEATURES
• Supply voltage: 5VDC
• Distance range: 20m
• Paired with mobile phone
• UART interface

6.3 APPLICATONS
• Wireless Telemetry
• Remote Data Logging
• Robotics
6.4 SERVO MOTOR

6.4.1 DESCRIPTION
Designed by telecom merchant Ericsson in 1994, it was initially
imagined as a remote option in contrast to RS-232 information links. It
can interface a few gadgets, conquering issues of synchronization.

Bluetooth UART empowers you to remote send and get sequential

information. Gadgets furnished with Bluetooth innovation support
remote highlight point associations, just as remote admittance to
cell phones. You can just utilize it for sequential port substitution to
set up association among MCU and PC for information move.
 6.4.2 SERVO MOTOR
Servomotors are not a particular class of engine albeit the term
servomotor is regularly used to allude to an engine appropriate for use
in a shut circle control framework. The engine is combined with some
sort of encoder to give position and speed input. In the least difficult
case, just the position is estimated.
The deliberate situation of the yield is contrasted with the order
position, the outer contribution to the regulator.

In the event that the yield position varies from that required, a blunder
signal is created which at that point makes the engine turn one or the
other way, depending on the situation to carry the yield shaft to the
fitting position. As the positions approach, the mistake signal
decreases to nothing and the engine stops.
 6.4.3 SERVO MOTOR INTERFACE WITH ARDUINO

A servomotor is a rotating actuator or straight actuator that considers

exact control of precise or direct position, speed and speed increase.
It comprises of an appropriate engine coupled to a sensor for position
criticism. It likewise requires a generally refined regulator, regularly
a devoted module planned explicitly for use with servomotors.

A servomotor is shut circle servomechanism that utilizations

position input to control its movement and last position. The
contribution to its control is some sign, either simple or advanced,
addressing the position directed for the yield shaft.
6.5 FEATURES
• Supply voltage: 5VDC
• Control signal: Analog or D1igital
• High-precision positioning.
6.6 APPLICATIONS
• Conveyors
• Solar Tracking System
• Antenna Positioning
• Camera Auto Focus
• It is used to measure the speed of the output shaft

6.7 MOTOR DRIVER

L293D is a regular Motor driver or Motor Driver IC which permits

DC engine to drive on either direction.L293D is a 16-pin IC which
can handle a bunch of two DC engines all the while toward any path.
It implies that you can handle two DC engine with a singleL293D IC.
Double H-connect Motor Driver incorporated circuit (IC)

L293D is a double H-connect engine driver coordinated circuit (IC).

Engine drivers go about as momentum intensifiers since they take a
low-ebb and flow control flag and give a higher-ebb and flow signal.
This higher current sign is utilized to drive the engines.

L293D contains two inbuilt H-connect driver circuits. In its

regular method of activity, two DC engines can be driven at the same
time, both in forward and invert heading. The engine activities of two
engines can be constrained by input rationale at pins 2 and 7 and 10
and 15. Information rationale 00 or 11 will stop the comparing
engine. Rationale 01 and 10 will turn it in clockwise and
anticlockwise ways, separately.

Empower pins 1 and 9 (relating to the two engines) should be high for
engines to turn over working. At the point when an empower input is
high, the related driver gets empowered. Thus, the yields become
dynamic and work in stage with their data sources. Additionally,
when the empower input is low, that driver is crippled, and their
yields are off and in the high- impedance state.

6.7.1 Features
• Easily compatible with any of the system
• Easy interfacing through FRC (Flat Ribbon Cable)
• External Power supply pin for Motors supported
• Onboard PWM (Pulse Width Modulation) selection switch
• 2pin Terminal Block (Phoenix Connectors) for easy Motors
Connection
• Onboard H-Bridge base Motor Driver IC (L293D)
6.7.2 Technical Specification:
• Power Supply : Over FRC connector 5V DC
• External Power 9V to 24V DC
• Dimensional Size : 44mm x 37mm x 14mm (l x b x h)
• Temperature Range : 0°C to +70 °C

CHAPTER – 7
7. POWER SUPPLY UNIT
7.1 DESCRIPTION
A force supply unit (or PSU) changes mains AC over to low-
voltage managed DC power for the inward parts of a PC. Present day
PCs generally utilize exchanged mode power supplies. Some force
supplies have a manual switch for choosing input voltage, while
others naturally adjust to the mains voltage.

A force supply is utilized to decrease the mains power at 240 volts

AC down to something more useable, say 12 volts DC. There are two
kinds of force supply, straight and switch mode. A direct force
supply utilizes a transformer to lessen the voltage. The AC signal is
redressed and controlled to deliver a high DC voltage.

An AC connector, AC/DC connector, or AC/DC converter is a kind of

outside power supply, frequently encased for a situation like an AC
plug. Connectors for battery-controlled hardware might be depicted as
chargers or rechargers (see likewise battery charger). AC connectors
are utilized with electrical gadgets that require control however don't
contain inside segments to infer the necessary voltage and force from
fundamental force. The inward hardware of an outside power supply
is fundamentally the same as the plan that would be utilized for an
implicit or inner stockpile.

A connector is a gadget that converts ascribes of one electrical gadget

or framework to those of a generally incongruent gadget or
framework. Some alter force or sign ascribes, while others only adjust
the actual type of one electrical connector to another. In a PC, a
connector is regularly incorporated into a card that can be embedded
into an opening on the PC's
motherboard. The card adjusts data that is traded between the PC's
microchip and the gadgets that the card upholds.(11.1.1)

7.1.2 CIRCUIT DIAGRAM:

An electric force connector may empower association of a force
plug, some of the time called, utilized in one district to an AC
power attachment utilized in another, by offering associations for
the dissimilar contact plans, while not changing the voltage. An
AC connector, additionally called a "recharger", is a little force
supply that changes family electric flow from circulation voltage)
to low voltage DC appropriate for purchaser hardware.
 Some modify power or signal attributes, while others merely
adapt the physical form of one electrical connector to another. For
computers and related items, one kind of serial port adapter enables
connections between 25-contact and nine-contact connectors, but does
not affect electrical power- and signalling-related attributes
7.3 FEATURES
• Output current:1A
• Supply voltage: 220-230VAC
• Output voltage: 12VDC
• Reduced costs
• Increased value across front-office and back-office
functions
• Access to current, accurate, and consistent data
• It generates adapter metadata as WSDL files with J2CA
extension.
7.4 APPLICATIONS
1)
2) Back-end frameworks which need to send buy request
information to prophet applications send it to the mix
administration by means of an incorporation worker
customer.
3)

4) • SMPS applications.
5)

6) I. SOFTWARE
7)

8) ARDUINO IDE:
9)

10) The Arduino Integrated Development Environment - or

Arduino Software (IDE) - contains a word processor for
composing code, a message region, a book support, a toolbar
with catches for basic capacities and a progression of menus.
It associates with the Arduino and Genuino equipment to
transfer programs and speak with them.
11)

12) Projects composed utilizing Arduino Software (IDE) are called

outlines. These representations are written in the word
processor and are saved with the document expansion .ino.
The supervisor has highlights for cutting/gluing and for
looking/supplanting text. The message region gives criticism
while saving and sending out and furthermore shows
blunders. The support shows text yield by the Arduino
Software (IDE), including total mistake messages and other
data. The base righthand corner of the window shows the
designed board and sequential port. The toolbar catches
permit you to check and transfer programs, make, open, and
save outlines, and open the chronic
 screen.
13)

14) Prior to transferring your sketch, you need to choose the

right things from the Tools > Board and Tools > Port
menus. The sheets are portrayed underneath. On the Mac,
the sequential port is presumably something
like/dev/tty.usbmodem241 (for an Uno or Mega2560 or
Leonardo) or/dev/tty.usbserial-1B1 (for a Duemilanove or
prior USB board), or/dev/tty.USA19QW1b1P1.1 (for a
sequential board associated with a Keyspan USB-to- Serial
connector). On Windows, it's likely COM1 or COM2 (for a
sequential board) or COM4, COM5, COM7, or higher (for a
USB board) - to discover, you search for USB sequential
gadget in the ports part of the Windows Device Manager. On
Linux, it ought to be/dev/ttyACMx ,/dev/ttyUSBx or
comparable. Whenever you've chosen the right sequential
port and board, press the transfer button in the toolbar or
select the Upload thing from the Sketch menu. Current
Arduino sheets will reset consequently and start the transfer.
With more established sheets (pre-Diecimila) that need auto-
reset, you'll need to press the reset button on the board not
long prior to beginning the transfer. On most sheets, you'll
see the RX and TX LEDs flicker as the sketch is transferred.
The Arduino Software (IDE) will show a message when the
transfer is finished, or show a mistake.
15)

16) At the point when you transfer a sketch, you're utilizing the
Arduino bootloader, a little program that has been stacked on
to the microcontroller on your board. It permits you to
transfer code without utilizing any extra equipment. The
bootloader is dynamic for a couple of moments when the
board resets; at that point it begins whichever sketch was
most as of late transferred to the
 microcontroller. The bootloader will squint the ready (pin
13) LED when it begins (for example at the point when the
board resets).
17)

18) PROGRAMMING LANGUAGE:

19)

20) Inserted C is a bunch of language expansions for the C

programming language by the C Standards Committee to
address shared trait gives that exist between Cextensions for
various implanted frameworks.
21)

22) Inserted C is a bunch of language augmentations for the C

programming language by the C Standards Committee to
address shared characteristic issues that exist between C
expansions for various implanted frameworks. Truly,
installed C programming requires nonstandard expansions to
the C language to help outlandish highlights, for example,
fixed-point math, various particular memory banks, and
essential I/O activities
23)

24) An inserted framework is a PC framework with a devoted

capacity inside a bigger mechanical or electrical framework,
frequently with ongoing figuring requirements. It is
implanted as a feature of a total gadget regularly including
equipment and mechanical parts. Implanted frameworks
control numerous gadgets in like manner use today. 98% of
all chip are fabricated as parts of inserted frameworks.
25)

26) Instances of properties of run of the mill implanted PCs when

contrasted and universally useful partners are
 low force utilization, little size, rough working reaches, and
low per-unit cost. This comes at the cost of restricted
handling assets, which make them essentially more hard to
program and to associate with. Notwithstanding, by building
knowledge instruments on top of the equipment, exploiting
conceivable existing sensors and the presence of an
organization of implanted units, one can both ideally oversee
accessible assets at the unit and organization levels just as
give enlarged capacities, well past those accessible. For
instance, clever strategies can be intended to oversee power
utilization of implanted frameworks.
27)

28) Current inserted frameworks are frequently founded on

microcontrollers (for example Computer processor's with
coordinated memory or fringe interfaces), yet standard
microchips (utilizing outside chips for memory and fringe
interface circuits) are additionally normal, particularly in
more-complex frameworks. Regardless, the processor(s)
utilized might be types going from universally useful to
those worked in certain class of calculations, or even
specially crafted for the current application. A typical
standard class of committed processors is the advanced sign
processor (DSP).
29)

30) Since the inserted framework is devoted to explicit

assignments, plan specialists can advance it to decrease the
size and cost of the item and increment the unwavering
quality and execution. Some inserted frameworks are mass-
delivered, profiting by economies of scale.
31)

32) Implanted frameworks range from versatile gadgets

 like computerized watches and MP3 players, to enormous
fixed establishments like traffic signals, manufacturing plant
regulators, and to a great extent complex frameworks like
cross breed vehicles, MRI, and aeronautics. Intricacy
changes from low, with a solitary microcontroller chip, to
exceptionally high with numerous units, peripherals and
organizations mounted inside a huge suspension or nook.
33)

34) Other than utilizing Labview[3], Matlab arduino interfacing

and simulink block[37, 41], Arduino IDE gives an all around
organized wide scope of capacities those direct the arduino
pins and ports straightforwardly. It can encourages
programming Arduino board effectively and transfer the
coding or order on arduino board. It contains a SERVO
library of capacity that can be utilized to control servo
engines and the programming language is like JAVA and C+
+ language. Arduino IDE assists the software engineers with
diminishing the programming overhead and improve running
season of hidden program[42].
35)

36) I. Bluetooth Communication

37)

38) Remote control framework can be agreed by Zigbee[2, 45], and

Bluetooth technology[31, 35, 36, 38-41], and To control the
automated arm by utilizing an Android Application, a
Bluetooth module is required. Bluetooth is a remote
correspondence convention running at the speed of 2.4 Ghz
with the design of customer worker and it can make an
individual region network[39]. HC- 06 Bluetooth module
sends information remotely to Bluetooth empowered
Arduino.
39)

40) II. ANDROID PLATFORM

41)

42) Android gadget offer various correspondence interfaces like

USB, Wi-Fi, Bluetooth that can be utilized for association
with the mechanical arm. It is most stretched out utilized
stage on the planet and reasonable for mechanical
framework control. Additionally, it is less expensive
whenever contrasted with some other ARM-based handling
unit[39].
43)

44) Servoduino application is prepared on the lookout and utilized

in this task. With this application, automated framework
control should be possible by controlling the servo engines
with arduino microcontroller in the wake of sending orders
from the cell phone through Bluetooth association with the
mechanical arm. Subsequent to forming the programming
code in PC programming, it will be imported to servoduino
application in cell phone. The benefit of servoduino
application is easy to understand as a basic UI is given and
significant distance control should be possible utilizing cell
phone.Block Diagram
 7.4.1 ROBOT CONTROL SYSTEM
BLOCK DIAGRAM.
Automated arm spoke with client through Bluetooth to the
Bluetooth module introduced on the control arrangement of
mechanical arm. At the point when a client slides each catch on
the application, input signal or controlling sign is given from the
matched Android advanced mobile phone and afterward sent
through Bluetooth to the mechanical arm. The information from
the advanced mobile phone is sent as ASCII design to be gotten
by the Bluetooth module and gave to Arduino for additional
activity. The Arduino recognized the contribution of sign and
changed over them into order, the robot at that point checked the
order with its recently characterized orders and the servo engines
acts appropriately relying upon the order got from the
microcontroller by pushing ahead, in reverse, left, right or to
stop. Accordingly, a PDA Android worked robot is made to
perform lifting errands.

7.5 TEST RIG DEVELOPMENT

To approve the robot arm and its segment, barely any tests
were done which included testing the two parts and the generally
speaking automated arm framework. shown tests led on the
automated arm have been done in research facility.

By shifting the situation of the items which should be lifted by

the automated arm, the servo engine development range is tried.
Distinctive direct motivations to every servo engine are sent by
providing an order through PDA. This can assists with checking
the reaction of the servo engine whether it can moves to the
correct situation as per the order given by the client. This cycle
happened when servo engines deciphered the sign from
microcontroller through encoder which brought about the turn to
the ideal position. The underlying and last position are set
apart to rate the
exactness of the actuator.

For generally speaking framework execution, most extreme

burden which ready to be lifted by the mechanical arm is
resolved utilizing various loads. During the test, the mechanical
arm got the weight and moved it to a specific position.

7.6 Equipment TESTING

An installed framework is a PC framework intended to do one or

a couple of devoted as well as explicit capacities frequently with
ongoing figuring requirements." So inserted framework is only
minimal effort, low space and low support framework. It is
intended to deal with a particular errand to be constrained by at
least one fundamental preparing centers that are normally either
microcontrollers or advanced sign processors.

7.7 TESTING

Testing is dubious term and to characterize it we should know

and we ought to have a few baselines. Fundamentally to
comprehend testing we should know not many things:

1. Testing isn't autonomous module it is interlinked with the

framework to be tried.

2. To test the framework you should know the framework, this

really implies on the off chance that you need to test anything
first you ought to have an intensive information on the
framework.

These are extremely fundamental things and can be applied to

any framework/scenario.For Embedded Systems testing we
ought to know about the testing
 climate.

7.7.1 We have basically three categories for testing:

1. White box testing
2. Black Box testing
3. Grey Box testing

7.8WHITE BOX TESTING

It is finished with the genuine code. On the off chance that we are
utilizing a few API's some other device to see code inclusion and so
forth you are doing white box testing. In the event that we are
changing the code to see whether it is functioning true to form isn't, is
white box testing.

7.9DISCOVERY TESTING

On the off chance that we accept that each framework has a bug and
attempts to discover absconds without knowing the inward coding of
the framework.

7.10DARK BOX TESTING

On the off chance that we realize how inward coding has been done
and composing the experiments dependent on how the framework will
be utilized goes under dark box testing.
7.11SOFTWARE TESTING
 DEVELOP

INTEGRA
T
E
VALIDATE
7.11.1 EMBEDDED SOFTWARE IS WRITTEN FOR SPECIFIC
HARDWARE
DEPLOY

➢ Requires specific inputs and outputs

➢ Target has different architecture
• Endianness
• Memory model
• Hardware accelerators
➢ Target has limited resources
• Memory
• Disk
7.11.2 SIMULATION OVERCOMES LIMITED ACCESS
TO HARDWARE

➢ Different levels of simulation

• Emulation: qemu (PowerPC, ARM)
• Virtualization: KVM, Virtual Box
• Stubbing/hardware abstraction
➢ PC has much more resources and performance
7.11.3 TESTING AND OPEN SOURCE SOFTWARE
➢ Open source tools to support testing
• Unit tests
• Doctest
• D-Bus
➢ Testing of open source tools
• Gstreamer
• Linux kernel

7.11.4LINUX KERNEL HAS STUBS AND TEST FRAMEWORK

 ➢ For most device types, stub implementation exists
• For USB gadget: dummy_hcd, zero
• For MTD (= flash): block2mtd
➢ Linux Test Project (LTP) offers a large test suite
• Mainly for file systems and networking.
• Mainly regression, load and performance tests.
Developer should write tests from the start, It saves time, Share the tests with
other developers, Even more important for open source projects, For
embedded systems, hardware abstraction / stubs are essential.

7.11.5 TEST DESIGN TOOLS

Tools that help you decide what tests need to be executed. Test data and test
case generators.

7.11.6 GUI TEST DRIVERS

Tools that automate execution of tests for products with graphical user
interfaces. Client/server test automation tools, including load testers, also go
here.

7.11.7 LOAD AND PERFORMANCE TOOLS

Tools that specialize in putting a heavy load on systems (especially client-server
Systems). These tools are often also GUI test drivers.

7.11.8 TEST MANAGEMENT TOOLS

Tools that automate execution of tests for products without graphical user
interfaces. Also tools that help you work with large test suites.
 CHAPTER 8/
RESULTS & DISCUSSION

I. ROBOTIC ARM MOVEMENT COVERAGE

The greatest reach for the automated arm are recorded during the test and
appeared in The further get point of the mechanical arm is 2.10cm, and the most
extreme point the mechanical arm can reach is 92o, with range from 36o to
128o.

II. FINAL POSITION

Consequence of the automated arm of lifting with various weight is introduced

in this part. The heap to be lifted in this examination is a blockade with various
weight. The automated arm is told to lift the block and move it to a particular
position. The examination is begun to look at the exactness of situating with a
variety in weight of a blockade which is in the scope of 20 grams to 100 grams,
the heap with 20 grams go about as a source of perspective. The accuracy of the
mechanical arm to lift various loads is recorded in the table beneath. From the
information got, the mechanical arm can lift 100 grams true to form bring about
this task. In any case, the development of mechanical arm isn't smooth when it
lifted 100 grams because of absence of solidarity in the linkage that comprised
of aroused wire with 1mm measurement. This issue can be addressed by
utilizing a high strength linkage which comprised of steel.

PRECISION IN X AND Y AXIS.

Precision (mm)
Weight (grams) x- axis y- axis
 20 0 0
40 3 7
60 0 10
80 12 17
10 30 32
0
Table;8.1
II. TIME DURATION

A complete lifting cycle can be done at 15.55 seconds and there is

an insignificant difference of time taken for various weights.

Table 13.6.2. Duration of lifting process.

Weight (grams) Duration (second)

20 15.54
40 15.64
60 15.65
80 15.67
100 15.68

8.1.1 Maximum range of robotic arm movement.

 8.1.2 CONCLUSION

This undertaking presents the plan and improvement of a mechanical arm for
light material lifting application. The mechanical arm is drafted utilizing PC
helped plan programming, Autocad and creation with advance innovation, 3D-
printing to save cost and time. The mechanical arm is comprised of ABS
(Acrylonitrile Butadiene Styrene) and one of the linkages between the body
and engine is comprised of PLA (Polylactic Acid). During the 3D printing
measure, we dealt with an issue in printing an overhanging part which
emphatically influenced the joining part by causing an extreme deformity.
Meshmixer programming which can create support consequently at the
overhanging part in this manner a fulfilled item is gotten. The actuator used to
perform arm development is 4 servo engines. The servo engine is controlled by
means of an Arduino Uno through coding. Because of the constraint of the
servo engine, the development scope of the automated arm is confined inside
180 degrees. The automated arm is planned with four levels of opportunity
since it is reasonable for the vast majority of the application included lifting
.Therefore, it tends to be savvy and basic development by utilizing just 4
actuators.

The automated arm parts are consolidated by clasp: screws and nuts. For the
mechanical arm control, the framework basically comprised of three segments
which are microcontroller, android application and servo engine. Arduino
microcontroller is less expensive and simpler to be customized with C language
contrasted with the other microcontrollers. A UI in Servo arduino, an android
application permits the client to control the development with no preparation
required so the automated arm is easy to understand. Analysis is set up to test
the presentation of the mechanical arm by changing the heap to be lifted; the
lifting system of an automated arm is approved upheld by the outcomes
acquired in the test.

FUTURE SCOPE

In the further turn of events, the automated arm can be arranged on a versatile
stage with 4 wheels to permit convenientce and route. Plan of a widespread
gripper is intriguing on the grounds that it can lift various states of articles.
Mechanical arm has sensors to distinguish the situation of the articles and the
entire cycle is robotized and it can likewise speak with client through systems
administration.
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