A

Mini Project
Report on

Design and development of a 5-axis

robotic arm with pick and
place function

Submitted in Total fulfilment of the

requirements for the curriculum TE(sem VI)

By
Khan Rayyan 2021201
Maaz Masood 2021206
Pranav Magar 2021207
Mihir Mhatre 2021210

Under the guidance of

Prof. Kamlesh.S

Department of Mehcanical Engineering

Fr. Conceicao Rodrigues Institute of Technology
2023-24
 Certificate

This is to certify that the project entitled “Design and Development of a 5-axis Robotic Arm
with pick and Place” is a bonafide work of Mr. Khan Rayyan (2021201), Mr. Maaz Masood
(2021206) Mr. Pranav Magar (2021207) and Mr. Mihir Mhatre (2021210) submitted to the
University of Mumbai in requirement for Mini Project 2-B. The report which is based on candidates
own work, and has not submitted elsewhere for a degree/diploma. The work is is submitted in total
fulfillment of the requirements for the curriculum of Mechanical Engineering TE (Sem-VI) during
academic year 2023-2024

Prof. Kamlesh.S
(Project Guide)

Dr. Aqleem Siddiqui Dr. S.M Khot

(Head of Department) (Principal)

i
 Mini Project-2B Approval

This project report entitled “Design and Development of a 5-axis Robotic Arm with pick and
Place ” is a bonafide work by Mr. Khan Rayyan (2021201), Mr. Maaz Masood (2021206) Mr.
Pranav Magar (2021207) and Mr. Mihir Mhatre (2021210) is approved for TE Sem-VI
Mechanical Engineering during academic year 2023-24.

Examiners:

1.

2.

Date :

Place :

i
 Declaration

I declare that this written submission represents our ideas in our own words and where others’ ideas
or words have been included, I have adequately cited and referenced the original sources. I also
declare that I have adhered to all principles of academic honesty and integrity and have not
misrepresented or fabricated or falsified any idea/data/fact/source in my submission. I understand
that any violation of the above will be cause for disciplinary action by the Institute and can also
evoke penal action from the sources which have thus not been properly cited or from whom proper
permission has not been taken when needed.

Mr. Khan Rayyan Mr. Maaz Masood

Mr. Pranav Magar Mr. Mihir Mhatre

iii
 Abstract

With the rise in population and technological advancements, the manufacturing sector has
expanded significantly. To enhance human comfort and boost production output, robotic arms
have been introduced. They find application in manufacturing units dealing with heavy products
or components and requiring fast production frequencies. So the aim of the project is to develop
a 5-axis robotic arm with pick and place function using Arduino nano, LM2596 Buck, servo
motors, etc. these motors are controlled by the Arduino nano and the designing of the model is
done in inventor.
 Contents
Abstract i

List of Figures iv

List of Tables__ v

1 Introduction 01
1.1 Introduction 02
1.2 Background 02
1.3 Problem Definition 02
1.4 Scope of the project 02
1.5 Aim of the project 02
1.6 Objective of the project 02

2 Literature review 04

3 Methodology And Calculation 07

3.1 Design Consideration 07
3.2 Calculations 10

4 Components 13
4.1 Capacitor 0.33 micro farad 13
4.2 Capacitor POL, 100 micro farad, 16V 14
4.3 LM2596 Buck DC – DC Converter, 5V, 3A 14
4.4 Capacitive Sensor 15
4.5 Arduino Nano 15
4.6 Servo Motor SG90 16
4.7 Servo Motor MG90 16
4.8 CAD Model 17

5 Fabrication of Proposed Model 20

5.1 Fabrication Process 20

6 Conclusion 24

ii
7 References 25

8 Acknowledgement 26

iii
 List of Figures

3.1 Schematic Diagram 10

4.1 Capacitor 14
4.2 Capacitor POL 14
4.3 LM2596 buck 15
4.4 sensor 15
4.5 Arduino 15
4.6 Servo Motor 16
4.7 Servo Motor 16

4.8.1 Base 17
4.8.2 Link Joint Base 17
4.8.3 Middle Link 18
4.8.4 Link End 18
4.8.5 Proposed CAD Design 19

5.1 Mounting and Wiring 21

5.2 Controller Unit 21
5.3 Power Unit 22
5.4 Assembly Model 23

iv
 List of Tables

3.1 Arm Length 10

3.2 Arm Weight. 11
3.3 Motor Weight. 11
3.4 Torque Result. 11

v
 Chapter 1

Introduction

1.1 Introduction

The field of robotics has seen significant advancements over the past 50 years, with robots
capable of executing tasks with speed, precision, and minimal human intervention. Robotic arms,
in particular, have revolutionized production by providing superior accuracy and strength
compared to humans. Robotics are increasingly employed in industries to reduce risks to human
workers and undertake repetitive or hazardous tasks. Robotics can be categorized into industrial
and service robotics, with service robots operating autonomously to perform various tasks
beneficial to humans and equipment. These robots find applications in diverse fields such as
offices, military operations, hospitals, hazardous environments, and agriculture. They excel in
tasks that are difficult, dangerous, or monotonous for humans, such as handling explosive
chemicals, defusing bombs, or performing repetitive actions in manufacturing. Thus, robots are
increasingly replacing humans in various work roles.
 1.2 Background

When discussing Service Automation, it's essential to trace its origins and the evolution of
automation itself. Automation isn't a recent concept; it has deep historical roots, stretching
back centuries to when humans devised basic tools like pulleys to simplify tasks.
"Automation" refers to the utilization of various control systems for operating machinery,
factory processes, vehicle steering, aircraft, ships, and more. Over time, automation
technology has advanced significantly, giving rise to various other technologies such as
service automation and artificial intelligence. "Advanced robotics," a specialized subset of
automation, involves automated machines equipped with artificial intelligence to enhance
workforce capabilities and task functions. Automation has become indispensable across
industries, providing benefits in nearly every sector.

1.3 Problem Definition

Design and development of 5 axis robotic arm for following linear and parabolic path.

1.4 Aim of the project

To design and develop a 5-axis robotic arm to perform pick and place function of standard
objects with speed and following a defined path.

1.5 Objective of the project

To design and fabricate a robotic arm capable of picking up and placing an object of definite
dimensions with accuracy and observe how varying the link sizes influence itsspeed following
a defined path.

1.6 Scope of the project

The scope of the project is as follows:

• To study kinematics of 5-axis robotic arm

• To design kinematic mechanism for spatial space range and payload of 250gms.
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• To select control system for 5-axis robotic arm (Battery, servo motor, etc.).
• To prepare 3D model of 5-axis robot.
• To design 5 degree of freedom robot for following linear and parabolic path
• To optimize the length of the links for increasing speed of the robotic arm
• To fabricate links of 5-axis robot by using acrylic sheet.
• Assembly and Testing of robotic arm

This chapter covered introduction, aim, objective, and scope. Next chapter focuses on literature
review

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 Chapter 2

Literature review

Nowadays, robots are increasingly being integrated into working tasks to replace humans
specially to perform the repetitive task. In general, robotics can be divided into two areas,
industrial and service robotics. International Federation of Robotics (IFR) defines a service
robot as a robot which operates semi- or fully autonomously to perform services useful to the
well-being of humans and equipment, excluding manufacturing operations.

Matt Blackmore et al.[1] have done this project on Robot Manipulator , it is one of the
most widely used robot types by industrial society. A robotic manipulator that mimics the
characteristics of a human arm is also called an articulated arm. However, the articulated
motion of a robotic arm is different from that of a human arm. While robot joints have less
degrees of freedom (DOF), the robot manipulator can move freely even from a certain angle
with more freedom. For example, the elbow of an articulated robot can bend up or down
whereas a person can only bend their elbow in one direction the rest only in a straight arm
position. The manipulators are grouped into classes according to the joint combination
used in the construction of the robot manipulator.

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 [2]
Ali et al. has performed master-slave system with haptic features, especially force
feedback, was implemented. This system has a device to measure force, as the slave system
interacts with virtual model and actuators devices in the master system to exert force on
the operator. A position and force control system was developed, creating a bilateral
communication between the master and the slave devices. A robotic arm, inverse kinematic
model and control was developed using LabVIEW and Arduino. LabVIEW was used
to acquire position and force signal from Novint Falcon then send it to robotic arm.
Arduino was used to calculate the inverse kinematics model to evaluate the joint angles
of the robot arm. The correct position of the end effector with respect to the base was
achieved using the joint angles. The performance of the system is characterized using
human input for soft tissues of different stiffness and the results show that system has the
ability to display the interaction force effectively.

[3]
Chayan et al. has proposed robotic technology making the spot-welding operation more
flexible and time oriented. With the help of pick and place mechanism the material handling
has been easily carried out. The variation in the mechanical structure and the angle of
movement can be changeable. The human hand design forms the basis of this project of
developing a robotic gripper and is the source of inspiration to achieve the sufficient level
of dexterity in the domain of grasping and manipulation if coupled with wrist and arm..

Ritu Tiwari et al.[4] has discussed robotic arm and there different parameters, such as
multiple axis uses to change the mass of an arm, DOF increased by simply by adding joints,
working envelope and space should decide according to the situation, kinematics improved
movement of the robot, speed and acceleration vary in different works, accuracy and
repeatability is the important factor for any robotic arm. Also, used diagrams for making
proper understanding of robotic arm.

Hamid Ameh et al.[5] have discussed haptic technology to recognize the human motion. The
concept implemented on 3-DOF based robot arm using a smaller number of resources. The
main focus of the implementation was about making user friendly robotic arm for disable
person. It also features obstacle detection and image processing.

Johnson.A et al.[6] delves into the latest advancements in five-axis robotic arms specifically
designed for pick and place functions within industrial settings. It thoroughly examines the
evolution of kinematic designs, highlighting innovations that enhance precision, speed, and
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flexibility in handling various objects. Additionally, the review explores recent developments
in end-effector technologies, such as grippers and suction cups, aimed at improving grasping
and manipulation capabilities. Moreover, it discussed advancements in control systems,
including motion planning algorithms and trajectory optimization techniques, to streamline
pick and place operations. The integration of vision systems for object recognition and
localization is also analyzed. Furthermore, the paper addressed ongoing challenges in
optimizing the performance and efficiency of five-axis robotic arms and outlines potential
future research directions to further enhance their capabilities.

Chen et al.[7] presented a comprehensive overview of the kinematics and dynamics of five-axis
robotic arms utilized in pick and place applications. It discussed various kinematic models,
motion planning algorithms, dynamic analyses, and control strategies.

Park et al.[8] investigated the integration of five-axis robotic arms with artificial intelligence
(AI) systems to achieve autonomous pick and place operations. It explored AI-based
approaches for object detection, grasp planning, motion control, and learning algorithms,
enabling the robotic system to adapt to dynamic environments and handle diverse objects with
varying shapes and sizes. Furthermore, the paper discussed the utilization of machine learning
techniques, including reinforcement learning and imitation learning, to improve the arm's
decision-making capabilities and enhance its efficiency over time through experience.

The above mentioned literature review show pick-and-place operations and human-robot
interaction, master-slave system with force feedback, enhancing interaction effectiveness,
improve spot-welding operations and robotic arm parameters emphasized factors like
kinematics, speed, and accuracy. Additionally, haptic technology was implemented to
recognize human motion, focusing on user-friendly interfaces. Next chapter cover
methodology, design considerations and calculations for 5- axis robotic arm.

6
 Chapter 3

Methodology And Calculation

The realm of robotics, the methodology and calculation behind the design and opera- tion
of a 5-axis robotic arm represent a fusion of mechanical engineering precision and
computational prowess. This intricate process begins with a meticulous kinematic anal-
ysis, unraveling the geometric intricacies that dictate the arm’s movement. Through the
derivation of forward and inverse kinematics equations, the relationship between joint an- gles
and the end-effector’s position is meticulously charted, often employing mathematical
frameworks like Denavit-Hartenberg parameters and transformation matrices.

3.1 Design Consideration

Designing a 5-axis robotic arm requires careful consideration of various factors to ensure
optimal performance and versatility. Here’s a brief overview of key design considerations:

1. Workspace: it defines the required workspace envelope considering the range of motion
needed for the intended tasks and ensure the robotic arm can reach all desired positions
without collisions or obstructions

7
2. Payload Capacity: it determines the maximum payload the arm needs to handle. Con-
sider not just the weight of objects, but also factors like inertia and dynamic loads during
operation.
3. Accuracy and Precision: Aim for high repeatability and accuracy to perform tasks
with precision. This involves selecting appropriate actuators, joints, and control
systems that minimize backlash and mechanical errors.
4. Speed and Acceleration: Balance speed and acceleration capabilities to achieve efficient
operation while maintaining accuracy. Optimize the arm’s dynamics to minimize
cycle times and improve productivity.
5. Reachability and Accessibility: Ensure the arm can access all target points within its
workspace, including complex or confined spaces. Design joints and linkages to
maximize reachability while minimizing interference.
6. Safety: Implement safety features such as collision detection, emergency stop mecha-
nisms, and protective barriers to prevent accidents and ensure safe operation in dynamic
environments.
7. Control System: Choose suitable control algorithms and feedback mechanisms to
achieve precise motion control. Consider factors like real-time responsiveness, trajectory
planning, and integration with external systems.
8. End-Effector Compatibility: Design the robotic arm to accommodate various end-
effectors or tooling for different applications. Ensure easy mounting and
compatibility with industry-standard interfaces.
9. Maintenance and Durability: Design components for ease of maintenance and longevity.
Use durable materials, minimize wear points, and incorporate features like self-
diagnostics to facilitate troubleshooting and servicing.
10. Cost and Scalability: Balance performance requirements with cost considerations to
make the robotic arm economically viable. Design modular components and
interfaces to facilitate scalability and future upgrades.

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 𝑐𝑜𝑠𝜃𝑖 𝑠𝑖𝑛𝜃𝑖𝑐𝑜𝑠𝛼𝑖 𝑠𝑖𝑛𝜃𝑖𝑠𝑖𝑛𝛼𝑖 𝛼𝑖𝑐𝑜𝑠𝜃𝑖
𝑠𝑖𝑛𝜃𝑖 𝑐𝑜𝑠𝜃𝑖𝑐𝑜𝑠𝛼𝑖 −𝑐𝑜𝑠𝜃𝑖𝑠𝑖𝑛𝛼𝑖 𝛼𝑖𝑠𝑖𝑛𝜃𝑖
Ai = ……….eqn (1)
0 𝑠𝑖𝑛𝛼𝑖 𝑐𝑜𝑠𝛼𝑖 𝑑𝑖
0 0 0 1

Ai is the transformation matrix T10 for 𝛼 = 90

𝑐𝑜𝑠𝜃1 0 𝑠𝑖𝑛𝜃1 𝛼1𝑐𝑜𝑠𝜃1

𝑠𝑖𝑛𝜃1 0 −𝑐𝑜𝑠𝜃1 𝛼1𝑠𝑖𝑛𝜃1
T 10= ……………………….eqn (2)
0 1 0 𝑑1
0 0 0 1

Similarly,
𝑐𝑜𝑠𝜃2 −𝑠𝑖𝑛𝜃2 0 𝑎2𝑐𝑜𝑠𝜃2
𝑠𝑖𝑛𝜃2 𝑐𝑜𝑠𝜃2 0 𝑎2𝑠𝑖𝑛𝜃2
A2=T21= ……………………eqn (3)
0 0 1 𝑑2
0 0 0 1

𝑐𝑜𝑠𝜃3 0 𝑠𝑖𝑛𝜃3 𝑎3𝑐𝑜𝑠𝜃3

𝑠𝑖𝑛𝜃3 0 −𝑐𝑜𝑠𝜃3 𝑎3𝑠𝑖𝑛𝜃3
A3=T32= ………………….eqn (4)
0 1 0 𝑑3
0 0 0 1

𝑐𝑜𝑠𝜃4 0 −𝑠𝑖𝑛𝜃4 0
𝑠𝑖𝑛𝜃4 0 𝑐𝑜𝑠𝜃4 𝑎4𝑐𝑜𝑠𝜃4
A4=T43= …………………eqn (5)
0 −1 0 𝑑4
0 0 0 1

𝑐𝑜𝑠𝜃5 0 𝑠𝑖𝑛𝜃5 𝑎5𝑐𝑜𝑠𝜃5

𝑠𝑖𝑛𝜃5 0 −𝑐𝑜𝑠𝜃5 𝑎5𝑠𝑖𝑛𝜃5
A5=T54= …………………..eqn (6)
0 1 0 𝑑5
0 0 0 1

9
 Figure 3.1: Schematic Diagram.

By carefully addressing these design considerations, you can create a 5-axis robotic arm that
meets the specific needs of your application while ensuring reliability, efficiency, and safety.

3.2 Calculations

Table 3.1: Arm Weight.

Parameter Weight
.
(Kg)
W2 0.2
W6 0.1
W4 0.2
W7(Object Weight) 0.02

Table 3.1 displays the weight of the arms in kilograms, with "W7" denoting the object
weight, approximately 20 grams.

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 Table 3.2 Arm Length

Parameter Length (m)

Length 1 0.15
Length 2 0.15
Length 3 0.05

Table 3.2 presents the length of each arm in meters. The first arm measures approximately 15cm
or 0.15m, while the second arm shares the same length of 0.15m.

Table 3.3 Motor weight

Parameter Values (Kg)

Base Motor 0.09
Joint Motor 0.09
Wrist Motor 0.09

Table 3.3 illustrates the weight of the servo motors responsible for providing movement to the
robotic arm, with all motors having identical weights.

Table 3.4 Torque Result

Parameter Torque (N-m)

Motor 1 29.5
Motor 2 33.1
Motor 3 7.99
Motor 4 1.36

Table 3.4 presents the torque generated by each motor in N-m. Motor 1 yields 29.5 N-m of torque,
while Motor 2 produces 33.1 N-m. The remaining two motors exhibit lower torque outputs in
comparison to the first two.

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 Fig 3.5 Schematic Diagram

In this chapter arm weight, arm length, Torque and Motor weight calculation is done. This
chapter includes methodology and calculations of the joints. Next chapter covers various
components and design of five axis robotic arm with pick and place function.

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 Chapter 4

Design of 5- axis robotic arm

The components of a 5-axis robotic arm form a harmonious ensemble of precision engineering
and advanced technology. From the robust frame to the sophisticated actuators, sensors, end-
effectors, and control system, each element plays a vital role in enabling the arm’s versatile
and efficient performance. Together, they orchestrate its movements with finesse and accuracy,
unlocking a realm of possibilities in automation and manipulation tasks.

4.1 Capacitor 0.33 micro farad

In fig 4.1 the high-quality 0.33uF 35V tantalum capacitor, engineered to deliver exceptional
performance across a wide range of applications. Built with precision and durability in mind, this
capacitor boasts excellent temperature and long-life stability, ensuring reliable operation. Its moisture-
resistant design further enhances its durability, making it suitable for various industrial and electronic
applications. With very low leakage current, this capacitor maximizes efficiency while maintaining
accuracy within ±10%. Operating seamlessly in temperatures ranging from -55°C to +85°C, it offers
versatility and reliability under extreme conditions. Additionally, it meets RoHS compliance standards,.

13
 Figure 4.1: Capacitor

4.2 Capacitor POL, 100 micro farad, 16V

In fig 4.2 the capacitance of 100µF and a voltage rating of 16V, this capacitor offers reliable energy
storage and delivery for a wide range of applications. It can withstand temperatures of up to 105°C,
ensuring stable performance. Whether used in power supplies or industrial machinery this capacitor
delivers consistent performance and long-term reliability. Its electrolytic design allows for efficient
energy storage and discharge.

Figure 4.2: Capacitor POL

4.3 LM2596 Buck DC – DC Converter, 5V, 3A

In fig 4.3 shows LM2596 Buck which accepts input voltages ranging from 5V to 40V DC,
while delivering a steady output voltage of 5V DC. With a maximum output current of 2A,
extendable up to 3A. Boasting excellent line and load regulation specifications, this regulator
maintains consistent performance even under varying load conditions. Its high efficiency
minimizes power loss, enhancing overall system efficiency.

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 Figure 4.3: LM2596 buck

4.4 Capacitive Sensor

Fig 4.4 is primary function is to sense changes within its environment and transmit this information to
other electronic systems. Whether as a standalone device, module, or integrated subsystem, sensors play
a crucial role in various applications, from monitoring environmental conditions to controlling complex
machinery.

Figure 4.4: sensor

4.5 Arduino Nano

Fig 4.5 shows arduino UNO which is a microcontroller board based on the ATmega328P.
Arduino is an open-source hardware and software platform designed for electronics
prototyping and development.

Figure 4.5: Arduino

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 4.6 Servo Motor SG90
Fig 4.6 shows micro servo motor SG90 which is a tiny and lightweight server motor with high
output power. Servo can rotate approximately 180 degrees (90 in each direction), and works just
like the standard kinds but smaller.

Figure 4.6: Servo Motor

4.7 Servo Motor MG90

Fig 4.7 MG90s servo motor which is a compact and reliable motor designed for precise
control in robotics and RC projects. With its metal gear construction and torque of upto
2.2 kg/cm, it offers powerful and accurate movement. This servo motor features 360-
degree rotation, fast response time, and compatibility with various control systems. Perfect
for DIY enthusiasts, it provides smooth and reliable motor control in a compact package.

Figure 4.7: Servo Motor

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4.8 CAD Model
Before fabrication of the system, deciding all the dimensions with respect to each other, various
joint movements and any other incompatibility was done using Autodesk Inventor CAD
modelling platform. Various models and iterations were tried and implemented to achieve this
model. Failures from previous models were removed to generate the models shown in figures
below.

Figure 4.8.1: Base

The base plate of the robotic arm depicted in Figure 4.8.1 hosts a Mg 90 servo motor, with an
additional Mg 90 servo motor positioned above it to enable 360-degree rotation of an arm.

Figure 4.8.2: Link Joint Base

In Figure 4.8.2, the shoulder section is depicted, serving as the mounting point for the Mg 90
motor along with various other components, including the elbow housing the Sg 90 servo motor.

17
 Figure 4.8.3: Middle Link

Figure 4.8.3 illustrates the elbow link, to which the wrist is affixed, featuring an Sg 90
servo motor at its extremity.

Figure 4.8.4: Link End

In Figure 4.8.4, the terminal segment or wrist of the robotic arm is depicted, where the
jaw is connected alongside the Sg 90 servo motor.

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 Figure 4.8.5: Proposed CAD Design

Figure 4.8.5 depicts the CAD model of the 5-axis robotic arm featuring pick and place
capabilities. It is capable of lifting or transporting objects weighing approximately 20
to 30 grams from one location to another.

In this chapter 4, the components and the Cad Model of the 5-axis robotic arm are discussed
with their respective model names and intended applications. Next Chapter covers the
fabrication of 5-axis robotic arms with pick and place function .

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 Chapter 5

Fabrication of Proposed Model

The fabrication process for our proposed model involves turning ideas into a tangible reality
through careful planning and skilled craftsmanship. We'll start by designing and cutting the
necessary components from materials like acrylic sheets and wood. These components will then
be assembled and mounted onto a sturdy base. Electrical components such as potentiometers,
Arduino Nano, and LM2596 Buck will be carefully integrated and connected to form the control
unit. Finally, the robotic arm's structure will be completed, and the necessary code will be
programmed into the Arduino Nano to bring the arm to life. Through this fabrication process,
we aim to create a functional and precise 5-axis robotic arm ready to navigate and perform tasks
with efficiency and accuracy.

5.1 Fabrication Process

The body is constructed using light weight acrylic sheet to avoid self loading of mechanism
allowing easier cutting and drilling. The electrical component mounting, general purpose zero
board printed circuit board is used and to facilitate interconnections jumper wires are
used. Solidbas well as detachable connections are done using solder and male female connector
pins. Lastly, whole assembly is mounted on wooden board. On bottom side of the mounting
board control and power units are placed whereas on the top side robotic arm is mounted along
with the knobs to control the moment.
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 Figure 5.1: Mounting and Wiring

In Figure 5.1, the potentiometers, Arduino Nano, and LM2596 Buck are showcased, all
securely mounted onto a wooden plank, with electrical connections established between
them.

Figure 5.2: Controller Unit

Figure 5.2 illustrates the control unit of the 5-axis robotic arm, an Arduino Nano embedded
with programmed code to operate the robotic arm.

21
 Figure 5.3: Power Unit

Fig 5.3 illustrate the power unit of 5-axis robotic arm which stepdown the voltage to required
voltage to the robotic arm .

22
 Figure 5.4: Assembly Model.

Figure 5.4 depicts the assembly model of a 5-axis robotic arm equipped with servo motors for
pick and place functionality, alongside Arduino Nano, potentiometers, and LM2596 Buck.

23
 Chapter 6

Conclusion

This project demonstrates the successful development of a versatile 5-axis robotic arm
equipped with pick and place functionality. By integrating servo motors, Arduino Nano,
potentiometers, and LM2596 Buck converter, the robotic arm offers a modular, affordable,
and efficient solution for automation tasks. Its precise movement and reliable performance
make it suitable for diverse industrial and educational applications, contributing to the
advancement of robotics technology.

24
 References

[1] Matt Blackmore, Jacob Furniss, and Shaun Ochsner. “5 DOF Robotic Arm”. In:
Poland State University, Embedded Robotics, Poland (2009).

[2] Ali Roshanianfard and Noboru Noguchi. “Kinematics analy sis and simulation of
a 5DOF articulated robotic arm applied to heavy products harvesting”. In: Journal of
Agricultural Sciences 24.1 (2018), pp. 90–104.

[3] Chayan Mondal and Zahid Hassan. “Gesture controlled 6 Axis Robotic Arm Via
Bluetooth”. In: (2015), pp. 80-114.

[4] Ritu Tiwari and Rajendra R. “The novel of six axes robotic arm for industrial
applications”. In: IAES International Journal of Robotics and Automation 3.3 (2014),
p. 161.

[5] Hamid Ameh A Shaibu et al. “Development of an Arduino Controlled Robotic Arm”.
In: Journal of Good Governance and Sustainable Development in Africa 5.2 (2019),
pp. 73–82.

[6] Johnson, Smith, J., , A., & Brown, K. (2021). Recent Advances in Five-Axis Robotic
Arms for Pick and Place Applications. Robotics and Automation Letters, Volume 3(2)

[7] Chen, H, Lee, C., Wang, L., &. (2019). A Comprehensive Review on Kinematics and
Dynamics of Five-Axis Robotic Arms for Pick and Place Tasks. International Journal of
Robotics Research, Volume 28(4)

[8] Park, J, Kim, S, & Choi, Y. (2018). Integration of Five-Axis Robotic Arms with AI-Based
Systems for Autonomous Pick and Place Operations: A Review. Journal of Intelligent
Manufacturing, Volume 42(1)

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 Acknowledgement

We are grateful for the immense support offered to us by faculty members of the Me- chanical
Department. We sincerely express our deep sense of gratitude to our Principal Dr. S.M.Khot,
our Head of Department Dr. Aqleem Siddiqui for their continuous sup- port.We also express
our gratitude to our guide Mr. Badal Kudachi for his support and guidance throughout our
project work. We are thankful to the teaching and non-teaching staff of Fr. C. Rodrigues
Institute of Technology, Vashi, Navi Mumbai for their cooper-ation. We also wish to express
our sincere thanks to all those who helped us directly or indirectly in our project

26