IoT BASED ROBOT ARM CONTROL

1.0 INTRODUCTION
Nowadays customers are mainly concerned about the quality and time
of delivery of products. This made industries to make use of robotics
extensively in their processes, which has the ability to work at constant
speed without pausing and ultimately has the potential to produce more in
shorter time than a human worker

On the other hand, IoT (Internet of Things) is an advanced

automation and analytics system which exploits networking, sensing, big
data and artificial intelligence technology to deliver complete systems for a
product or service. These systems allow greater transparency, control and
performance when applied to any industry or system.

The collaboration of IoT and robotics is an ongoing revolution what

some call it as FOURTH INDUSTRIAL REVOLUTION, an INDUSTRIAL
INTERNET OF THINGS.

In this project a prototype of 6DOF robotic arm is made whose control

is based on IoT. The robot arm is made using servomotors whose control is
achieved through an android application both operating in the same Wi-Fi.
The Wi-Fi module and the controller are in same module as servomotors
need PWM signals for their actuation, this reduced the usage of additional
controller in the project. The commands given by the app is received by the
Wi-Fi module and accordingly it sends the signal to the respective motor.

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2.0 PROJECT IN BRIEF

2.1 AIM
The aim is to control a ROBOT ARM using IoT, which can be used for
pick and place of objects. The ANDROID APP helps in controlling the
movement of arm.

2.2 OBJECTIVES

• To control robot arm

• To achieve communication between android app and the controller
• To achieve remote control of the arm
• To design a prototype of desktop robot arm

2.3 PROJECT RELEVANCE

• Can be used in processing industries
• Hazardous environment where human reach is difficult
• Educational purpose in learning about IoT real time application,
movements of robotic arm

2.4 TARGET
To make a prototype of robot arm which is controlled by android app
where the communication happens between app and controller via Wi-Fi.

2.5 LIMITATIONS
The servo motors used in the project has only 180 degrees of
rotation.

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3.0 MODULAR BLOCK DIAGRAM

Fig 3.1 Block diagram

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4.0 MODULE 1-POWER SUPPLY

4.1 INTRODUCTION
The purpose of this module is to power up the electronic components
used in the project. The components servo motors and node MCU require
5V. so the power supply is designed to deliver an output of 5V, 1A.

4.2 COMPONENTS
1. Transformer: (9-0-9) V, 1A
2. Diodes: 1N4007
3. Capacitors: 2200uF, 25V, 0.33uF and 0.1uF ceramic capacitors
4. Resistor: 1k
5. LED
6. Voltage regulator: LM7805
7. Copper clad
8. Pin connectors

4.3 CIRCUIT DIAGRAM

Fig 4.1 Power Supply

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4.3 DESIGN
Step 1: The selection of a regulator IC

It depends on output voltage. In this case, power supply has to be designed

for the 5V output voltage, so the LM7805 linear regulator IC is selected.
Following are the ratings, pin diagram for LM7805.

Fig 4.2 LM7805 Pin Out

Step 2: The Selection of Transformer

The minimum input for the selected regulator IC is 7V. So, a transformer to
step down the main AC to at least this value has to be selected. But,
between the regulator and transformer, there is a diode bridge rectifier too.
The rectifier has its own voltage drop across it, i.e. 1.4V. so it has to
compensate for this value as well.

Mathematically:

Vsecondary = 7.4V+1.4V

Vsecondary = 8.4V (Peak Value)

So, the transformer with a secondary voltage value equal to 9V or at least

10% more than 9V has to be selected. From these points, for 5V DC power

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supply design, we can select a transformer of current rating 1A and

secondary voltage of 9V or 12V.

Step 3: Diodes for Bridge

The selected diode must have the current rating more than the load current.
And peak reverse voltage (PIV) more than peak secondary transformer
voltage.1N4007 diode is selected because it has the current rating of 1A
and peak reverse voltage of

Step 4: Filter Capacitor calculations

The capacitor voltage rating must be at least 20% more than the secondary
voltage. Capacitance value depends upon the output voltage and the output
current. Selected capacitor = 2200uF, 25V

4.6 MODULE IMAGE

Fig 4.3 Power Supply module

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5.0 MODULE 2 – NODE MCU

5.1 INTRODUCTION
The Internet of Things (IoT) has been a trending field in the world of
technology. It has changed the way we work. Physical objects and the
digital world are connected now more than ever. Keeping this in
mind, Espressif Systems (A Shanghai-based Semiconductor Company) has
released an adorable, bite-sized Wi-Fi enabled microcontroller – ESP8266,
an unbelievable it can monitor and control things from anywhere in the
world.
5.2 ABOUT THE DEVICE
5.2.1 ESP-12E MODULE
The development board equips the ESP-12E module containing
ESP8266 chip having Tensilica Xtensa 32-bit LX106 RISC
microprocessor which operates at 80 to 160 MHz adjustable clock frequency
and supports RTOS. There’s also 128 KB RAM and 4MB of flash memory (for
program and data storage) just enough to cope with the large strings that
make up web pages, JSON/XML data, and everything we throw at IoT
devices nowadays.
The ESP8266 Integrates 802.11b/g/n HT40 Wi-Fi transceiver, so it
can not only connect to a Wi-Fi network and interact with the Internet, but
it can also set up a network of its own, allowing other devices to connect
directly to it. This makes the ESP8266 Node MCU even more versatile.

5.2.2 POWER REQUIREMENT

As the operating voltage range of ESP8266 is 3V to 3.6V, the board

comes with an LDO voltage regulator to keep the voltage steady at 3.3V. It
can reliably supply up to 600mA, which should be more than enough when
ESP8266 pulls as much as 80mA during RF transmissions. The output of the

regulator is also broken out to one of the sides of the board and labelled as
3V3. This pin can be used to supply power to external components.

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Fig 5.1 Power requirement

5.2.3 PERIPHERALS AND I/O

The ESP8266 Node MCU has total 17 GPIO pins broken out to the pin
headers on both sides of the development board. These pins can be
assigned to all sorts of peripheral duties, including:

• ADC channel – A 10-bit ADC channel.

• UART interface – UART interface is used to load code serially.

• PWM outputs – PWM pins for dimming LEDs or controlling motors.

• SPI, I2C & I2S interface – SPI and I2C interface to hook up all sorts
of sensors and peripherals.

• I2S interface – I2S interface if you want to add sound to your project

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Fig 5.2 Peripherals and I/O

5.2.4 ON-BOARD SWITCHES & LED INDICATOR

The ESP8266 Node MCU features two buttons. One marked

as RST located on the top left corner is the Reset button, used to reset the
ESP8266 chip. The other FLASH button on the bottom left corner is the
download button used while upgrading firmware.

The board also has a LED indicator which is user programmable and
is connected to the D0 pin of the board.

Fig 5.3 ON board switches and indicators

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5.2.5 SERIAL COMMUNICATION

The board includes CP2102 USB-to-UART Bridge Controller from Silicon

Labs, which converts USB signal to serial and allows your computer to
program and communicate with the ESP8266 chip.

Fig 5.4 Serial communication

5.2.6 ESP8266 NODE MCU PINOUT

The ESP8266 Node MCU has total 30 pins that interface it to the
outside world. The connections are as follows:

• Power pins: There are four power pins viz. one VIN pin & three 3.3V
pins. The VIN pin can be used to directly supply the ESP8266 and its
peripherals, if you have a regulated 5V voltage source. The 3.3V pins
are the output of an on-board voltage regulator. These pins can be
used to supply power to external components.
• GND: Is a ground pin of ESP8266 Node MCU development board.
• I2C Pins: Are used to hook up all sorts of I2C sensors and peripherals
in your project. Both I2C Master and I2C Slave are supported. I2C
interface functionality can be realized programmatically, and the clock
frequency is 100 kHz at a maximum. It should be noted that I2C clock
frequency should be higher than the slowest clock frequency of the
slave device.

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Fig 5.5 ESP8266 NODE MCU Pinout

• GPIO Pins: ESP8266 Node MCU has 17 GPIO pins which can be
assigned to various functions such as I2C, I2S, UART, PWM, IR
Remote Control, LED Light and Button programmatically. Each digital
enabled GPIO can be configured to internal pull-up or pull-down, or
set to high impedance. When configured as an input, it can also be
set to edge-trigger or level-trigger to generate CPU interrupts.
• ADC Channel: The Node MCU is embedded with a 10-bit precision
SAR ADC. The two functions can be implemented using ADC viz.
Testing power supply voltage of VDD3P3 pin and testing input voltage
of TOUT pin. However, they cannot be implemented at the same time.
• UART Pins: ESP8266 Node MCU has 2 UART interfaces, i.e. UART0
and UART1, which provide asynchronous communication (RS232 and
RS485), and can communicate at up to 4.5 Mbps. UART0 (TXD0,
RXD0, RST0 & CTS0 pins) can be used for communication. It supports
fluid control. However, UART1 (TXD1 pin) features only data transmit
signal so, it is usually used for printing log.

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• SPI Pins: ESP8266 features two SPIs (SPI and HSPI) in slave and
master modes. These SPIs also support the following general-purpose
SPI features:
✓ Up to 80 MHz and the divided clocks of 80 MHz
✓ Up to 64-Byte FIFO
✓ 4 timing modes of the SPI format transfer
• SDIO Pins: ESP8266 features Secure Digital Input/ Output Interface
(SDIO) which is used to directly interface SD cards. 4-bit 25 MHz
SDIO v1.1 and 4-bit 50 MHz SDIO v2.0 are supported.
• PWM Pins: The board has 4 channels of Pulse Width Modulation
(PWM). The PWM output can be implemented programmatically and
used for driving digital motors and LEDs. PWM frequency range is
adjustable from 1000 μs to 10000 μs, i.e., between 100 Hz and 1 kHz.
• Control Pins: Are used to control ESP8266. These pins include chip
Enable pin (EN), Reset pin (RST) and WAKE pin.
• EN pin: The ESP8266 chip is enabled when EN pin is pulled HIGH.
When pulled LOW the chip works at minimum power.
• RST pin: RST pin is used to reset the ESP8266 chip.
• WAKE pin: Wake pin is used to wake the chip from deep-sleep.

5.2.7 ESP8266 DEVELOPMENT PLATFORMS

There are a variety of development platforms that can be equipped to

program the ESP8266. one can go with Espruino – JavaScript SDK and
firmware closely emulating Node.js, or use Mongoose OS – An operating
system for IoT devices (recommended platform by Espressif Systems and
Google Cloud IoT) or use a software development kit (SDK) provided by
Espressif or one of the platforms listed on Wikipedia.

Fortunately, the amazing ESP8266 community took the IDE selection

a step further by creating an Arduino add-on.

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This ESP8266 add-on for Arduino is based on the amazing work

by Ivan Grokhotkov and the rest of the ESP8266 community.

5.3 MODULE IMAGE

Fig 5.6 Node MCU module

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6.0 MODULE 3 – ROBOTIC ARM

6.1 INTRODUCTION

Machines that can replace human beings as regards to physical work

and decision making are categorised as robots and their study as robotics.
The industry is moving from the current state of automation to robotization,
to increase productivity and to deliver uniform quality. Robots and robotlike
manipulators are now commonly employed in hostile environment, such as
at various places in an atomic plant to handle radioactive materials. Robots
are being employed to construct and repair space stations and satellites.
There are now increasing number of applications of robots such as nursing
and aiding a patient, employed in heavy earth moving equipment.

One type of robot commonly used in the industry is a robotic arm. It is an

open or closed kinematic chain of rigid links interconnected by movable
joints. In some configurations, links can be considered to correspond to
human anatomy as waist, upper arm, fore arm with joints at shoulder and
elbow. At the end of the arm a wrist joint connects an end effector to the
forearm. The end effector may be a tool and its fixture or a gripper or any
other device to do the work.

6.2 ROBOTIC ARM

The mechanical structure of a robot is like the skeleton of human

body. The mechanical structure of a manipulator that consists of rigid
bodies(links) connected by means of articulations (joints), is segmented
into an arm that ensures mobility and reachability, a wrist that confers
orientation, and an end-effector that performs the required task. Most
manipulators are fastened to the floor or on the mobile platform.

Here in the project prototype of robotic arm is made using 6 servo

motors, 3 for mobility and reachability and 3 for orientation. it is fastened
on the fixed platform, the different parts of arm are made using aluminium

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sheets and servo brackets. The end-effector here is the gripper made out
of acrylic material. This robotic arm does pick and place of objects.

6.3 SERVO MOTORS

6.3.1 INTRODUCTION

Fig 6.1 Servomotor

Servo motors are DC motors that allows for precise control of angular
position. They are actually DC motors whose speed is slowly lowered by the
gears. The servo motors usually have a revolution cut off from 90° to 180°.
A few servo motors also have revolution cut-off of 360° or more. But servo
motors do not rotate constantly. Their rotation is limited in between the
fixed angles.

The servo motor is actually an assembly of four things: a normal DC

motor, a gear reduction unit, a position-sensing device and a control
circuit. The DC motor is connected with a gear mechanism which provides
feedback to a position sensor which is mostly a potentiometer. From the
gear box, the output of the motor is delivered via servo spline to the servo
arm. For standard servo motors, the gear is normally made up of plastic
whereas for high power servos, the gear is made up of metal.

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Servo motor consists of three wires: a black/brown wire connected to

ground, a white/yellow wire connected to control unit and a red wire
connected to power supply. The function of the servo motor is to receive a
control signal that represents a desired output position of the servo shaft
and apply power to its dc motor until its shaft turns to that position.it uses
the position sensing device to figure out the rotational position of the shaft,
so it knows which way the motor must turn to move the shaft to the
instructed position.

6.3.2 WORKING OF A SERVO MOTOR

The Servo Motor basically consists of a DC Motor, a Gear system, a

position sensor and a control circuit. The DC motors get powered from a
battery and run at high speed and low torque. The Gear and shaft assembly
connected to the DC motors lower this speed into sufficient speed and
higher torque. The position sensor senses the position of the shaft from its
definite position and feeds the information to the control circuit. The control
circuit accordingly decodes the signals from the position sensor and
compares the actual position of the motors with the desired position and
accordingly controls the direction of rotation of the DC motor to get the
required position. The Servo Motor generally requires DC supply of 4.8V to
6 V.

6.3.3 CONTROLLING A SERVO MOTOR

A servo motor is controlled by controlling its position using Pulse Width

Modulation Technique. The width of the pulse applied to the motor is varied and
send for a fixed amount of time. The pulse width determines the angular position
of the servo motor. For example, a pulse width of 1ms causes an angular position
of 0 degrees, whereas a pulse width of 2ms causes an angular width of 180
degrees.

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6.3.4 ADVANTAGES AND DISADVANTAGES OF SERVO MOTOR

Advantages:

• If a heavy load is placed on the motor, the driver will increase the
current to the motor coil as it attempts to rotate the motor. Basically,
there is no out-of-step condition.

• High-speed operation is possible.

Disadvantages:

• Since the servomotor tries to rotate according to the command

pulses, but lags behind, it is not suitable for precision control of
rotation.

• Higher cost.

• When stopped, the motor’s rotor continues to move back and forth
one pulse, so that it is not suitable if you need to prevent vibration

6.3.5 APPLICATIONS OF SERVO MOTORS

• In Industries they are used in machine tools, packaging, factory

automation, material handling, printing converting, assembly lines, and
many other demanding applications robotics, CNC machinery or
automated manufacturing.
• They are also used in radio- controlled airplanes to control the positioning
and movement of elevators.
• They are used in robots because of their smooth switching on and off and
accurate positioning.
• They are also used by aerospace industry to maintain hydraulic fluid in
their hydraulic systems.
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• They are used in many radio-controlled toys.

• They are used in electronic devices such as DVDs or Blue ray Disc players
to extend or replay the disc trays.
• They are also being used in automobiles to maintain the speed of
vehicles.

6.3.6 SERVO MOTORS USED IN THIS PROJECT

1. MG996r Servo

Fig 6.2 MG996R Servo

Specifications:

• Weight: 55 g
• Dimension: 40.7 x 19.7 x 42.9 mm approx.
• Stall torque: 9.4 kgf.cm (4.8 V), 11 kgf.cm (6 V)
• Operating speed: 0.17 s/60º (4.8 V), 0.14 s/60º (6 V)
• Operating voltage: 4.8 V - 7.2 V
• Running Current 500 mA
• Stall Current 2.5 A (6V)
• Dead band width: 5 µs
• Stable and shock proof double ball bearing design
• Temperature range: 0 ºC – 55 ºC

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2. MG90S Micro Servo

Fig 6.3 MG90S Servo

Specifications
• Weight: 13.4 g
• Dimension: 22.5 x 12 x 35.5
• Stall torque: 1.8 kgf.cm (4.8V), 2.2 kgf.cm (6V)
• Operating speed: 0.1 s/60 degree
• Operating voltage: 4.8V – 6.0V
• Dead band width: 5 µs
6.4 MODULE IMAGE

Fig 6.4 Robot arm module

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7.0 MODULE 4 – ANDROID APP USING BLYNK IoT

PLATFORM

7.1 INTRODUCTION

Blynk is a hardware-agnostic IoT platform with customizable mobile

apps, private cloud, rules engine, and device management analytics
dashboard. Blynk App - allows to create amazing interfaces for projects
using various widgets that they provide. Blynk Server is responsible for all
the communications between the smartphone and hardware.

7.2 STEPS FOR CREATING APP

Step 1: Install Blynk from the play-store of Android mobile phone and also
install Blynk library in Arduino software.

Step 2: Open the Blynk app, create or login to the existing account. Select
New project - Name the project - Choose the device - Choose theme - Click
on create.

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Step 3: An authentication token will be sent to registered e-mail id, this will
be useful in coding. Image

Step 4: In the screen add widgets, click on widgets – Select the Slider
widget – Make changes according to the requirement.

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Step 5: Click on slider – Make the settings with appropriate pin selection,
value setting.

Step 6: Repeat steps 4&5 to create add more Sliders

For this project six sliders are used for controlling six servos.

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8.0 SOFTWARE REQUIREMENTS

8.1 INTRODUCTION

Following Software are used in project at different stages

1. Arduino IDE (Arduino 1.8.8)

2. Fusion 360

8.2 DETAILING

8.2.1 ARDUINO IDE

• Arduino IDE is an open source software that is mainly used for writing
and compiling the code into the Arduino Module.

• It is easily available for operating systems like MAC, Windows, Linux

and runs on the Java Platform that comes with inbuilt functions and
commands that play a vital role for debugging, editing and compiling
the code in the environment.

• microcontroller on the board of the module is actually programmed

and accepts the information in the form of code.

• The main code, also known as a sketch, created on the IDE platform
will ultimately generate a Hex File which is then transferred and
uploaded in the controller on the board.

• The IDE environment mainly contains two basic parts: Editor and
Compiler where former is used for writing the required code and later
is used for compiling and uploading the code into the given Arduino
Module.

• This environment supports both C and C++ languages.

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8.2.2 FUSION 360

• Fusion 360 is the first 3D CAD, CAM, and CAE tool of its kind that
connects entire product development process in a single cloud-based
platform that works on PC, Mac, and mobile devices.
• Fusion 360 offers free use to qualifying hobbyist makers through a
simple 3-step activation process.

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9.0 CONNECTION DIAGRAMS

9.1 SCHEMATIC DIAGRAM

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9.2 INTERNAL CONNECTION DIAGRAM

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10.0 PROGRAM

#define BLYNK_PRINT Serial

#include <ESP8266WiFi.h>

#include <BlynkSimpleEsp8266.h>

#include <Servo.h>

Servo servo1;

Servo servo2;

Servo servo3;

Servo servo4;

Servo servo5;

Servo servo6;

char auth[] = "ff16dfd4404346f98cec57c5320cfe51";

char ssid[] = "jazz";

char pass[] = "karnataka";

void setup()

Serial.begin(9600);

Blynk.begin(auth, ssid, pass);

servo1.attach(2);// NodeMCU D4 pin

servo2.attach(4);// NodeMCU D2 pin

servo3.attach(5);// NodeMCU D1 pin

servo4.attach(12);// NodeMCU D6 pin

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servo5.attach(13);// NodeMCU D7 pin

servo6.attach(14);// NodeMCU D5 pin

void loop ()

Blynk.run();

BLYNK_WRITE(V1)

servo1.write(param.asInt());

BLYNK_WRITE(V2)

servo2.write(param.asInt());

BLYNK_WRITE(V3)

servo3.write(param.asInt());

BLYNK_WRITE(V4)

servo4.write(param.asInt());

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BLYNK_WRITE(V5)

servo5.write(param.asInt());

BLYNK_WRITE(V6)

servo6.write(param.asInt());

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11.0 MECHANICAL STRUCTURE

11.1 2D STRUCTURE

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11.2 3D STRUCTURE

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12.0 WORKING

The main aim of this project is to control the robotic arm. The project
involves Node MCU – ESP8266 which works as controller as well as wi-fi
module. Six servo motors are used to make robot arm which has six DOF.
Each motor corresponds to 1 DOF. Servo motor enables the movement of
joints which are connected to one another by means of links (here links are
U-type clamps which are made out of aluminium sheets).

To run a servo motor pulse signals are required this is provided by

Node MCU. Mentioned wi-fi in the coding is enabled. When both app and
Node MCU are connected to same network the control is achieved.

The interfacing of the wi-fi module and servos can be observed in the
serial monitor of Arduino IDE. The motor moves in accordance with slider
movement in the app.

Each slider is associated with one motor. Thus, the arm movement is
made and the object can be picked and placed. This can be handled
remotely by making sure that the Node MCU is connected to the wi-fi
mentioned in its program

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13.0 OVERALL BILL OF MATERIALS

PRICE
SL.NO COMPONENT/ ITEM SPECIFICATION QUANTITY
(in
Rs)
1 Node MCU ESP8266 1 280

2 Servo Motors i. MG996R 3 750

ii. MG90S Micro 3 600
Multi-purpose servo
3 bracket 3 516
M3*5
4 Mounting screws M3*6 All together
M3*8
M4*8 300
5 Transformer (9-0-9)V, 1A 1 100
6 Voltage Regulator LM7805 1 16
7 Diode 1N4007 4 8
1k, 1/4W, Ceramic
8 Resistors resistor 1 1
9 Capacitors 2200uF, 25V 1 25
10 General PCB 10*15 1 40
11 LED 1 1
Male pin
connectors
12 Connector Pins
Female pin 40 25
connectors 40 25
Male to Female
Connecting and connectors
13
Jumper wires Male to Male 1 pack
connectors 1 pack 80
14 Lead wire and Flux 90
15 Acrylic Sheet 5mm thick 40
15*15 inch,
16 Metal Sheet 1 mm thick 1kg 40
17 Plywood 10mm thick 67
18 PVCL molding 50
TOTAL 3054

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14.0 TESTING AND TROUBLE SHOOTING

14.1 TESTING
• Module 1 - Power supply is tested and obtained voltage is 5V.
• Module 2 - Node MCU, program was uploaded, checked for connecting
to the Wi-Fi, and also checked the running of program by connecting
servo motor.
• Module 3 – Robotic arm, checked at every stage of mounting, each
motor is checked for working by connecting to Node MCU module and
power supply module once after fixing.
• Module 4 – Android app is made and checked.

14.2 TROUBLE SHOOTING

• Over soldering was removed and avoided short circuiting in power-
supply and Node MCU module.
• Mounting screws were tightened and movement of arm was
corrected.
• Proper connections are made by connecting appropriate pins of
Node MCU and servo motors.
• Speed control is taken care by handling slider positions in the app
properly.

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15.0 APPLICATIONS AND ADVANTAGES

15.1 APPLICATIONS

• For pick and place of objects

• For material handling in hazardous work area
• For demo purpose in academic labs
• By changing the end effector, it can be modified into various
applications like welding, spray painting and many more

15.2 ADVANTAGES

• Replacement of labours in monotonous work

• Can be utilised in places where human reach out is difficult
• Efficiency of the work is improved
• Less time-consuming compare to manual work
• Remote control is possible since IoT is used

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16.0 OUTCOME AND FUTURE SCOPE

16.1 LEARNING OUTCOMES

Mechanical

• Proper Set-up of 6 axis robotic arm

• Selection of materials
• Designing of mechanical gripper

Electrical

• Practical knowledge on servo motors with gear mechanism

• Hands on experience in wiring and power connections
• Designing of power supply

Software

• Android app by using BLYNK platform

• Mechanical design: Fusion 360
• Electronic circuit design: Eagle software
• Arduino IDE

Controllers

• Detailed information on Node MCU- ESP8266

Interlinking of Mobile app, NODEMCU, Hardware

16.2 FUTURE IMPROVEMENT

To make this pick and place robot as a trash collector robot for places
such as campus, auditoriums, stadiums and other places where it picks the
thrash and segregate it into different types such as wet waste, dry waste
and plastic. The information of movement of robot can be monitored using
appropriate sensors.

1662/TRG/2018/G Page | 36
IoT BASED ROBOT ARM CONTROL

17.0 CONCLUSION

IoT based robot arm control is achieved where it does a job of pick
and place. This arm can be used for other purposes also by changing end
effector presently it is a mechanical gripper.

1662/TRG/2018/G Page | 37
IoT BASED ROBOT ARM CONTROL

BIBLIOGRAPHY

• ROBOTICS AND CONTROL- R K Mittal, I J Nagrath, Tata Mc Graw Hill

publications.
• https://howtomechatronics.com/tutorials/arduino/diy-arduino-robot-arm-with-smartphone-
control/
• https://www.instructables.com/id/Wi-Fi-Browser-Controlled-Robotic-Arm-with-Arduino-/
• https://www.google.com/url?sa=i&source=images&cd=&ved=2ahUKEwja8-
rIr8ziAhUJ4o8KHQ3UAVUQjRx6BAgBEAU&url=https%3A%2F%2Fround-lake.dustinice.workers.dev%3A443%2Fhttps%2Fwww.hackster.io%2FAritro%
2Fgetting-started-with-esp-nodemcu-using-arduinoide-
aa7267&psig=AOvVaw10CWjQOgXCw3za_DEI0zxe&ust=1559618792096627
• https://lastminuteengineers.com/esp8266-nodemcu-arduino-tutorial/
• https://www.robots.com/blogs/advantages-and-disadvantages-of-automating-with-
industrial-robots
• https://www.elprocus.com/servo-motor/
• https://www.theengineeringprojects.com/2018/10/introduction-to-arduino-ide.html

1662/TRG/2018/G Page | 38
 NETTUR TECHNICAL TRAINING FOUNDATION - DTC (BELUR)
MSD PROJECT PROCESS PLAN 2018-19
GET NAME : JAYASHREE R
PROJECT TITLE : IoT BASED ROBOT ARM CONTROL
DATE

1662/TRG/2018/G
Jun 1st
Jun 9th

May 3rd
May 4th
May 6th
May 7th
May 8th
May 9th
Jun 3rd-

May 2nd

Apr 15th
Apr 16th
Apr 17th
Apr 30th
Jun 12th

May 21st
May 31st

May 10th
May 13th
May 14th
May 15th
May 16th
May 17th
May 18th
May 20th
May 24th
May 25th
May 29th
May 30th

May 23rd
Jun 10th-

May 22nd
June 18th
June 15th -

Feb20th- Feb 26th

Mar 15th - Mar 16th
Sl no Task
1 Synopsis submission
2 Project finalisation
Programming
3 i. Coding
IoT BASED ROBOT ARM CONTROL

ii. App making

4 Circuit design
Mechanical design
5 i. Parts for arm
ii. Gripper
Power supply
6 ( pcb fabrication,
PROCESS CHART

soldering and testing)

7 Module 3- hardware
9 Assembly
10 Trouble shooting
11Wire harnassing and labelling
12 Documentation

ACTUAL
PLANNED

Page | 39