WIRELESS CONTROLLED HUMANOID ROBOTIC ARM

A MAIN PROJECT REPORT

Submitted by

MOHAMMAD HAARIS S 1515104054

NISHANTH S 1515104062
MOHANRAM P 1515104715
KOWSHIKKUMAR A 1515104048
In partial fulfillment for the award of the degree

of

BACHELOR OF ENGINEERING
in
ELECTRICAL AND ELECTRONICS ENGINEERING

SONA COLLEGE OF TECHNOLOGY (AUTONOMOUS)

SALEM-636005.

ANNA UNIVERSITY: CHENNAI 600 002

APRIL 2019

1
WIRELESS CONTROLLED HUMANOID ROBOTIC ARM

A MAIN PROJECT REPORT

Submitted by

MOHAMMAD HAARIS S 1515104054

NISHANTH S 1515104062
MOHANRAM P 1515104715
KOWSHIKKUMAR A 1515104048

In partial fulfillment for the award of the degree

of

BACHELOR OF ENGINEERING
in
ELECTRICAL AND ELECTRONICS ENGINEERING

SONA COLLEGE OF TECHNOLOGY

(AUTONOMOUS)
SALEM- 636005.
ANNA UNIVERSITY: CHENNAI 600 025
APRIL 2019

2
 SONA COLLEGE OF TECHNOLOGY
(AUTONOMOUS)
ANNA UNIVERSITY: CHENNAI 600 025

BONAFIDE CERTIFICATE

Certified that this project report “WIRELESS CONTROLLED HUMANOID

ROBOTIC ARM ” is a bonafide work of “MOHAMMAD HAARIS S,
NISHANTH S, KOWSHIK KUMAR A, MOHAN RAM P” who carried out the
main-project work under my supervision.

SIGNATURE SIGNATURE

Dr. S. PADMA, M.E., Ph.D., Dr. R. ARULMOZHIYAL, M.E., Ph.D.,

HEAD OF THE DEPARTMENT SUPERVISOR

Professor & Head, Professor,

Department of EEE, Department of EEE,

Sona College Of Technology, Sona College Of Technology,

Salem – 636005. Salem – 636005.

Submitted to the university practical viva-voce held on …………

INTERNAL EXAMINER EXTERNAL EXAMINER

3
 ACKNOWLEDGEMENT

At this pleasing moment of having successfully completed our project work, we

wish to convey our sincere thanks and gratitude to our parents and college
management our chairman Shri C. VALLIAPPA, and our vice chairmen Shri.
CHOCKO VALLIAPPA and Shri. THYAGU VALLIAPPA who provided all
the facilities to us.

We would like to express sincere gratitude to Dr. S.R.R. SENTHIL KUMAR

M.E., Ph.D for motivating us to do our project and for offering adequate duration
for completing our project.

It is our great pleasure that we record our deep sense of gratitude and sincere
thanks to our Head of the Department Dr. S. PADMA M.E., Ph.D for the valuable
suggestions and whole hearted encouragement and direction during our project.

We owe our special elicit of gratitude and thankfulness to our project guide
Dr.R.ARULMOZHIYAL, M.E., Ph.D. EEE Department under whose inspiring
guidance and excellent idea, we are able to complete this project and we also thank
him for kind encouragement and supports rendered throughout the project period.

We express our sincere thanks to our beloved class counselor Dr.R.SATHEESH

KUMAR M.E., Ph.D for his valuable support and guidance in successful
completion of the project.

We also hereby express our heartfelt thanks to all the teaching and non-teaching
staffs of the EEE department and our friends who have contributed towards their
share for helping us in successfully completing this project.

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 TABLE OF CONTENTS

CHAPTER NO. TITLE PAGE NO

ABSTRACT

LIST OF FIGURES

1. Introduction
2. Block diagram
3. Circuit Diagram
4. List of Components :

4.1 3D printed arm

4.2 Arduino Board (Mega)

4.3 Arduino Nano

4.4 Flex Sensor
4.5 Servo Motor(SG90)
4.6 Servo Motor (mg996)

4.7 MPU-6050 (accelerometer and gyro sensor)

4.8 Battery

4.9 NRF24L01 Transreceiver

4.10 NRF24L01 Power Adapter

4.11 L298N Motor Driver

4.12 JX HV2060MG 60 kg Digital Servo

4.13 LX3325MG 25Kg Digital Servo

4.14 12v Square DC Gear Motor

5
5. Methodology 33

6. Advantages & Application 33

7. Future Scope 34
8. Conclusion 35
9. Reference 36

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 Abstract

Today, technology is developing with rapidly increasing human needs. We know

that human makes mistakes and are not efficient. Hence to eliminate this and to
work fast with great efficiency robotics is used. Robotic arm is a part of the robotics
flied which is used for chores movement, picking, placing and moving. Nowadays,
they are mostly used in the field of industry and medicine.

Here we are taking glove attached with different sensors as the input. The user
wears the glove and performs specific action and as a result the robotic arm also
performs the same action. The input and output are carried out wirelessly. This will
help to remotely access the features of arm.

In the robotic, bionic robots intended to be used in the medical field are currently
very popular and many researches have been performed about this area. These robot
studies started with robotic arm were developed as robot hands, robot legs and
humanoid robots. In the medical sector, they were inspired by prosthetic arms, legs
and hand products and took their place in robotics systems. With the development
of 3-D printer technology, robotic researches which are made at the medical field
have accelerated. In this study, it is aimed to communicate with a mobile robot
application to make movement in accordance with commands which is produced
with a 3D printer and. All five fingers of a human hand with natural bends are
designed and implemented with using 3D modeling and printing technologies.

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 LIST OF FIGURES

S.NO CONTENTS PAGE NO

1 Block diagram 9
2 Circuit diagram 10
3 Arduino Board 15
4 Flex Sensor 19
5 Servo Motor 20
6 Servo Motor 21
7 Battery 24
8 MPU-6050 (accelerometer and gyro 23
sensor)

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 CHAPTER 1
INTRODUCTION

The new developments on mechatronics and robotics have brought many new
technologies and innovations such as making easier of the human life, increasing
autonomy in the manufacturing sector, protecting people from working in risky
places, providing robotic limbs that can replace to prosthesis. In addition to ABS
disease, there are many reasons that prevent limb development or causes
orthopedic disturbances in hand/finger development. The accidental loss of the
limb is also seen at very high rates especially in the finger and hand areas. Robot
hands are useful for both adults and children and young people because they are
both cheap and functional.

Robot studies in the medical sector are very important developments for surgery,
prosthesis and sudden interventions, and intensive studies are being carried out.
Robot studies in the medical sector are very important for the detection of mistakes
during surgery, prosthetic hand, arm and leg exercises where people can use more
comfortably and healthily, injured, and emergency patients who have lost their
patients and limbs.

Two-dimensional movement of this robotic arm is controlled with regulation of

regional cortical events in the primary motor area. Polygerinos P. researched the
finger joints in the human hand and designed a glove that could be worn by hand. In
another study, a robotic arm that can be controlled by arduino has performed by
Elfasakhany A., Attenberger A. and Buchenrieder K. have used arduino uno to
simulate matlab on a dentist robot hand. Pahuja R. and Kumar N. who used
microprocessor control with Android program have made a robot car with bluetooth
protocol and this robot has run the car with android software. In another study, a
haptic robot arm was developed by A. Rama Krishna et al. using with arduino.
Doshi M.A. et al. designed and developed a robotic hand with real time control for
leprosy patients as prosthesis.

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In another study, Hartopanu S. et al. conducted servo motor control with the
movement of flex sensors mounted on gloves using arduino microprocessor.
Shamsheer Verma has implemented a robotic arm that is operated and controlled
with help of hand gestures using wireless. An arduino mega microprocessor,
gyroscope, accelerometer, gloves, servomotors are used in this research. The glove
provided robot hand movements from the 3D printer by the movement of the flex
sensors placed on the glove.

A humanoid robotic arm is designed and implemented with using 3D printer,

Arduino microcontroller, some sensors and android software. Firstly, the parts
forming the arm and hand were modelled in Solidworks program. Secondly, parts
were produced by using 3D printer technology. At the last, the parts were combined,
servomotors were placed and connections were made. The microcontroller Arduino
was programmed for the movements and placed to arm.

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 CHAPTER 2
BLOCK DIAGRAM

Fig : 1.1 Block diagram of humanoid robotic hand using arduino

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 CHAPTER 3
CIRCUIT DIAGRAM

Circuit diagram of humanoid robotic hand using arduino

12
 CHAPTER 4

LIST OF COMPONENTS
3D Printed Arm (PLA Material)
Arduino Mega
Arduino Nano
Flex Sensor
Servo Motor SG90
Servo Motor MG996
MPU-6050 (accelerometer and gyro sensor)
Battery
NRF24L01 Transreceiver
NRF24L01 Power Adapter
L298N Motor Driver
JX HV2060MG 60 kg Digital Servo
LX3325MG 25Kg Digital Servo
12v Square DC Gear Motor

13
 4.1 3D PRINTED ARM (PLA MARERAIL)

Firstly,the human hand and its skeleton structure were taken individually as reference.
Secondly, the parts of the hand were drawn and modelled by using solidworks program.
The implementation of the five fingered dexterous humanoid robotic hand is impressed
by the open source 3D printed project InMoov [12]. The pre-designed 3D design of the
human hand with 5 fingers is further modified to suit the need using 3D designing
software and 3D printed locally.

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 4.2 AURDINO BOARD (MEGA)

The Arduino Mega is a microcontroller board based on the ATmega1280. It has 54

digital input/output pins (of which 14 can be used as PWM outputs), 16 analog inputs,
4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a USB connection, a
power jack, an ICSP header, and a reset button. It contains everything needed to support
the microcontroller; simply connect it to a computer with a USB cable or power it with a
AC-to-DC adapter or battery to get started. The Mega is compatible with most shields
designed for the Arduino Duemilanove or Diecimila.

The Arduino Mega can be powered via the USB connection or with an external power
supply. The power source is selected automatically.

External (non-USB) power can come either from an AC-to-DC adapter (wall-wart) or
battery. The adapter can be connected by plugging a 2.1mm center-positive plug into the
board's power jack. Leads from a battery can be inserted in the Gnd and Vin pin headers
of the POWER connector.

The board can operate on an external supply of 6 to 20 volts. If supplied with less than
7V, however, the 5V pin may supply less than five volts and the board may be unstable.

15
If using more than 12V, the voltage regulator may overheat and damage the board. The
recommended range is 7 to 12 volts.

SPECIFICATION

Microcontroller ATmega1280
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 54 (of which 15 provide PWM output)
Analog Input Pins 16
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 128 KB of which 4 KB used by bootloader
SRAM 8 KB
EEPROM 4 KB
Clock Speed 16 MHz

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 4.3 ARDUINO NANO

Arduino Nano is a small, compatible, flexible and breadboard friendly

Microcontroller board, developed by Arduino.cc in Italy, based on ATmega328p
( Arduino Nano V3.x) / Atmega168 ( Arduino Nano V3.x). It comes with exactly the
same functionality as in Arduino UNO but quite in small size. It comes with an
operating voltage of 5V, however, the input voltage can vary from 7 to 12V.

Arduino Nano Pinout contains 14 digital pins, 8 analog Pins, 2 Reset Pins & 6
Power Pins. Each of these Digital & Analog Pins are assigned with multiple functions
but their main function is to be configured as input or output. They are acted as input
pins when they are interfaced with sensors, but if you are driving some load then use
them as output. Functions like pinMode() and digitalWrite() are used to control the
operations of digital pins while analogRead() is used to control analog pins. The
analog pins come with a total resolution of 10bits which measure the value from zero
to 5V.

Arduino Nano comes with a crystal oscillator of frequency 16 MHz. It is used to

produce a clock of precise frequency using constant voltage. There is one limitation
using Arduino Nano i.e. it doesn’t come with DC power jack, means you can not
supply external power source through a battery. This board doesn’t use standard USB
for connection with a computer, instead, it comes with Mini USB support. Tiny size
and breadboard friendly nature make this device an ideal choice for most of the
applications where a size of the electronic components are of great concern. Flash
memory is 16KB or 32KB that all depends on the Atmega board i.e Atmega168
comes with 16KB of flash memory while Atmega328 comes with a flash memory of
32KB. Flash memory is used for storing code. The 2KB of memory out of total flash
memory is used for a bootloader.

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 ARDUINO NANO V3.0 SPECIFICATION

 The Arduino Software (IDE), is used to program Arduino Nano. The

Arduino Software is an Integrated Development Environment that is common
to all Arduino boards and runs both online and offline.
The detailed specification of the Arduino Nano board is as follows:
 Microcontroller ATmega328

 Operating Voltage (logic level): 5 V

 Input Voltage (Recommended): 7-12 V

 Input Voltage (limits): 6-20 V

 Digital I/O Pins : 14 (of which 6 provide PWM Output)

 Analog Input Pins: 8

 DC Current per I/O Pin: 40 mA

 Flash Memory 32 KB (ATmega328) of which 2 KB used by bootloader

 SRAM: 2 KB (ATmega328)

 EEPROM: 1 KB (ATmega328)

 Clock Speed: 16 MHz

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 Measurements: 0.73" x 1.70"

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 4.4 FLEX SENSOR

A flex sensor or bend sensor is a sensor that measures the amount

of deflection or bending. Usually, the sensor is stuck to the surface, and resistance of
sensor element is varied by bending the surface. Since the resistance is directly
proportional to the amount of bend it is used as goniometer, and often called
flexible potentiometer. Four diodes in a bridge configuration or two diodes and a
center tapped transformer.

Types of flex sensor

 Conductive ink based flex sensor

 Fibre optic flex sensor

 Capacitive flex sensor

 Velostat flex sensor (popular among hobbyist)

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 4.5 SERVOMOTOR (SG90)

Servo motors (or servos) are self-contained electric devices that rotate or push
parts of a machine with great precision. Servos are found in many places: from
toys to home electronics to cars and airplanes. If you have a radio-controlled model
car, airplane, or helicopter, you are using at least a few servos. In a model car or
aircraft, servos move levers back and forth to control steering or adjust wing
surfaces. By rotating a shaft connected to the engine throttle, a servo regulates the
speed of a fuel-powered car or aircraft. Servos also appear behind the scenes in
devices we use every day. Electronic devices such as DVD and Blu-ray
Disc players use servos to extend or retract the disc trays.

21
The simplicity of a servo is among the features that make them so reliable. The
heart of a servo is a small direct current (DC) motor, similar to what you might
find in an inexpensive toy. These motors run on electricity from a battery and spin
at high RPM (rotations per minute) but put out very low torque. An arrangement
of gears takes the high speed of the motor and slows it down while at the same
time increasing the torque. The gear design inside the servo case converts the
output to a much slower rotation speed but with more torque (big force, little
distance). The amount of actual work is the same, just more useful. Gears in an
inexpensive servo motor are generally made of plastic to keep it lighter and less
costly.

4.6 SERVO MOTOR (MG996R)

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A servomotor is a closed-loop servomechanism that uses position feedback to
control its motion and final position. The input to its control is a signal (either
analogue or digital) representing the position commanded for the output shaft.

The motor is paired with some type of encoder to provide position and speed
feedback. In the simplest case, only the position is measured. The measured
position of the output is compared to the command position, the external input to
the controller. If the output position differs from that required, an error signal is
generated which then causes the motor to rotate in either direction, as needed to
bring the output shaft to the appropriate position. As the positions approach, the
error signal reduces to zero and the motor stops.

The very simplest servomotors use position-only sensing via a potentiometer and
bang-bang control of their motor; the motor always rotates at full speed (or is
stopped). This type of servomotor is not widely used in industrial motion control,
but it forms the basis of the simple and cheap servos used for radio-controlled
models.

More sophisticated servomotors use optical rotary encoders to measure the speed
of the output shaft and a variable-speed drive to control the motor speed. Both of
these enhancements, usually in combination with a PID control algorithm, allow
the servomotor to be brought to its commanded position more quickly and more
precisely, with less overshooting.

SPECIFICATIONS

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 Weight: 55 g

 Dimension: 40.7 x 19.7 x 42.9 mm approx.

 Stall torque: 9.4 kg·cm (4.8 V ), 11 kg·cm (6 V)

 Operating speed: 0.17 s/60º (4.8 V), 0.14 s/60º (6 V)

 Operating voltage: 4.8 V a 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 – 4.8 V a 7.2 V – 900 mA (6V) double ball bearing

design 55 ºC

4.7 MPU-6050 (ACCELEROMETER AND GYRO SENSOR)

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acceleration.Proper acceleration, being the acceleration (or rate of change of velocity) of a body in its own instantaneous rest frame, is not the same as coordinate acceleration, being the acceleration in a fixed coordinate system. For example, an accelerometer at rest on the surface of the Earth will measure an acceleration due to Earth's gravity, straight upwards (by definition) of g ≈ 9.81 m/s2. By contrast, accelerometers in free fall (falling toward the center of the Earth at a rate of about 9.81 m/s2) will measure zero.

Accelerometers have multiple applications in industry and science. Highly

sensitive accelerometers are components of inertial navigation systems for aircraft
and missiles. Accelerometers are used to detect and monitor vibration in rotating
machinery. Accelerometers are used in tablet computers and digital cameras so that
images on screens are always displayed upright. Accelerometers are used in drones
for flight stabilization. Coordinated accelerometers can be used to measure
differences in proper acceleration, particularly gravity, over their separation in
space; i.e., gradient of the gravitational field. This gravity radiometry is useful
because absolute gravity is a weak effect and depends on local density of the Earth
which is quite variable

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 4.8 BATTERY (LITHIUM- ION BATTERY 3.7V 3000MAH)

Lithium ion batteries, or more commonly lithium ion batteries (abbreviated

"Li-Poly" or "Li-Po") are rechargeable batteries which have technologically
evolved from lithium ion batteries. Their light weight, high power output and slow
rate of self-discharge have made them extremely popular in R/C, especially electric
aircraft.

A growing number of electronic devices use 18650 Li-Ion batteries. Flashlights are
using the 18650 battery to power the current hungry LED bulbs, and to provide
longer standby time when not in use. Previous rechargeable battery flashlights had
to be left on the charger almost all the time so that it would be ready to use in a
moment’s notice. This 18650 Li-Ion battery can be left off the charger for months
and still have over 90% of its charge. This enables you to charge an extra battery
and have it ready to use in your flashlight in case you are going to be away from
electricity for a long period of time or you forget to charge your original battery.

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 NRF24L01 TRANSCEIVER IC

The main difference between these two RF Modules is their operating frequency.
The nRF24L01 uses a 2.4GHz RF frequency whereas the earlier RF Modules used
434MHz RF frequency.

There is another important difference between them: in the 434MHz RF Modules,

we have two separate modules; one for Transmission (Transmitter) and the other
for Reception (Receiver). But the nRF24L0 is a Transceiver IC i.e. both the
transmitter and receiver are integrated on the same IC.

The nRF24L01 is a single chip RF Transceiver IC developed by Nordic

Semiconductor. It operates in the license-free 2.4GHz ISM band (ISM – Industrial,
Scientific and Medical) with support for data rates of 250kbps, 1Mbps and
2Mbps.For data rates of 250kbps and 1Mbps, the channel bandwidth is
27
approximately 1MHz. So, taking the minimum and maximum operating
frequencies of 2400MHz and 2525MHz, you can implement a maximum of 126
RF Channels if your data rate is limited to 250kbps or 1Mbps.

In 2Mbps data rate mote, the RF channel bandwidth should be 2MHz or more to
ensure non-overlapping.

Important Features of nRF24L01 IC

 Ultra-low power operation (26μA Standby-I mode, 900nA power down

mode)
 SPI Interface with Microcontroller
 Integrated RF Transmitter, Receiver and Synthesizer
 Operating voltage is 1.9V – 3.6V
 Input pins can tolerate 5V

nRF24L01 TRANSCEIVER MODULE ADAPTER

If you notice the nRF24L01 Transceiver Module, the pins are not breadboard
friendly and connecting wires directly will not be an ideal setup.

To overcome this, you have two options. First one is to make a small perf board for
inserting the nRF24L01 Transceiver Module on top and with breadboard friendly
pins at the bottom. The second option is to buy an adapter for the nRF24L01
Transceiver Module as shown in the following image.

As you can see, the adapter for nRF24L01 Transceiver Module consists of female
headers for inserting the nRF24L01 Transceiver Module and corresponding male
headers for connection with other boards like Arduino. There is also a 3.3V regulator IC
on the nRF24L01 Transceiver Module adapter so that you can provide 5V to the
adapter (only to the adapter with 3.3V regulator and not directly to the nRF24L01
Transceiver Module itself).

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 specifications
 Output Voltage: 1.9~3.6 DC.

 Current: 12.3 mA.

 It's for 8 Pin NRF24L01+ Module.

 A simple socket board which is for NRF24L01 wireless module

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  L298N Motor Driver

The L298N is an integrated monolithic circuit in a 15- lead Multiwatt and

PowerSO20 packages. It is a high voltage , high current dual full-bridge driver de-
signed to accept standard TTL logic level sand drive inductive loads such as relays,
solenoids, DC and stepping motors. Two enable inputs are provided to enable or
disable the device independently of the in-put signals .The emitters of the lower
transistors of each bridge are connected together rand the corresponding external
terminal can be used for the connection of an external sensing resistor. An
additional Supply input is provided so that the logic works at a lower voltage.

FEATURES
1) High operating voltage, which can be up to 40 volts;

2) Large output current, the instantaneous peak current can be up to 3A;

3) With 25W rated power;
4) Two built in H-bridge, high voltage, large current, full bridge driver,
which can be used to drive DC motors, stepper motors, relay coils and other

30
inductive loads.
5) Using standard logic level signal to control.
6) Able to drive a two-phase stepper motor or four-phase stepper motor, and
two-phase DC motors.
7) Adopt a high-capacity filter capacitor and a freewheeling diode that
protects devices in the circuit from being damaged by the reverse current of
an inductive load, enhancing reliability
8) The module can utilize the built-in stability volt tube 78M05 to obtain 5v
from the power supply. But to protect the chip of the 78M05 from damage,
when the drive voltage is greater than 12v, an external 5v logic supply
should be used.
9) Drive voltage: 5-35V; logic voltage: 5V
10) PCB size: 4.2 x 4.2 cm

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 JX HV2060MG 60 kg Digital Servo

Description:

Brand: JX Servo
Item: PDI-HV2060MG
Dead band: 4μs 1520μs / 330hz
Max PW:650-2350us ,180° compatible (don't exceed max PW)
Standard PW: 850-2150us
Motor: High quality core motor
Operating Voltage: DC 6.0V-7.4V
Operating Temperature Range: -20 — + 60°C
32
Operating Speed: (6.0V) 0.17 sec/60°
Operating Speed: (7.4V) 0.15 sec/60°
Stall Torque: (6.0V) 48kg.cm
Stall Torque: (7.4V) 62kg.cm
Dimensions: 65.8X30X57.4mm
Weight: 200g
Bearing: 2BB
Connector Wire Length: JR 265mm

Features:
High-performance and high-torque standard digital servo.
High-precision metal gear.
Dual ball bearing.

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 LX3325MG 25Kg Digital Servo

DESCRIPTION:

Brand: SPT
Product: SPT5525LV-320 25KG Digital Servo
Dead Band: 4μs
Neutral Position: 1500μs/50hz
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Motor: Core motor
500-2500μs Angle: 320°±2°
Voltage Range: 4.8V-6.0V
Operating Speed(4.8V): 0.22''/60°
Operating Speed(6.0V): 0.18''/60°
Stall Torque(4.8V): 24 kg.cm
Stall Torque(6.0V): 26 kg.cm
Dimensions: 40.5X20X40.5mm
Weight: 57g
Connector Wire Length: JR 260 mm
Bearing: 2BB
Application: RC Robot

35
 12v Square DC Gear Motor

Typical Applications
Pan/ Tilt camera, auto shutter, welding machines, water meter, IC Card, grill, oven,
cleaning machine, garbage disposers, household appliances, Slot machines, Money
detector, automatic actuator, coffee machine, Towel disposal, lighting , Coin
refund devices, Peristaltic pump.

36
Specifications –
Rated Voltage - 12v RPM - 100 (at 12v)
Nominal Voltage - 12v
No- Load Current - 220 mA
Load Current - 1.3 A
Stall Current - 4.8A
Full (Stall) Load Torque - 80 kg/cm
Weight - 500g Approx

37
 CHAPTER 5

METHODOLOGY

 Arduino mega microcontroller is used for the entire operation of the

project.
 The coding in done in Arduino IDE using C program.
 Flex sensor is used to control the movement of the fingers and elbow joint.
 Accelerometer sensor is used for wrist movement and shoulder joint.
 The humanoid robotic hand contains three parts as mechanical system,
electronics system and software.

38
 CHAPTER 6

ADVANTAGES

 In Rehabilitation research, wired gloves or data glove is used to record the

joint movement
 Industrial application : it can be used in place where there is hazardous and
dangerous material or radiation which will not be safe to handle by human
being
 Military application : it can be used in bomb diffuse robots where human
life is costly

DISADVANTAGES

39
  Not economic and very costly

 Real time implementation is difficult.

 A robot is a machine and like any machine it needs to have

input/programming. It cannot think beyond what it is meant to do and
sometimes critical thinking is needed.
CHAPTER 7
FUTURE SCOPE

Robots Off the Shelf

Industrial robots are more accessible and affordable today than ever before.
Standard robot models are now mass-produced, making more available to meet the
ever-increasing demand. This increased accessibility has, in turn, led to a steady
price drop for new robots. In addition, the used robotics market is further
expanding opportunities for low-cost models.

Integration Made Simple

Today, robotic integration is more straightforward, more conducive to plug and
play installation. Peripherals, robot models, and controllers are designed to
communicate more easily with one another. This compatibility makes for
easier workcell building and the resulting systems are more reliable and flexible.

Standardization
Six-axis industrial robots have become more uniform. When comparing robots
from a variety of different manufacturers, it's easy to notice the basic similarities in
style and usability. Market competition has brought about nearly interchangeable
robot series (think payloads and work envelope ranges).

40
Increased Flexibility
Current robotics components and models can handle more. They are built to offer
complexity and durability in different settings. Welding guns have greater
longevity. Welders can handle more variety. Robot technology continues to
advance - creating robust, capable product.

CHAPTER 8

CONCLUSION

In this paper, implementation of a hand robot is explained. A five fingered

dexterous humanoid robotic hand was designed, implemented and prototyped.
There are many motions like the original human motions were performed by using
this prototype. The response time is very high that the robotic hand can done
quickly what the operator want. In future, authors highly believe this application
can be further improving for healthcare, military applications and prosthetics
fields. This application can be improved by other wireless technologies and can be
used another fields easily

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 CHAPTER 9

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