BYOE: Design and Development of a Simple Robotic Arm

Iftekhar Ibne Basith; Brandon Marroquin

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Conference: 2020 ASEE Virtual Annual Conference Content Access
Location: Virtual On line
Publication Date: June 22, 2020
Start Date: June 22, 2020
End Date: June 26, 2021
Conference Session: Experimentation and Laboratory-oriented Studies Division Technical Session 6
Tagged Division: Experimentation and Laboratory-Oriented Studies
Page Count: 5
DOI: 10.18260/1-2--34245
Permanent URL: https://peer.asee.org/34245
Download Count: 749

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Paper Authors

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Iftekhar Ibne Basith Sam Houston State University orcid.org/0000-0002-6605-5966

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Dr. Iftekhar Ibne Basith is an Assistant Professor in the Department of Engineering Technology at Sam Houston State University, Huntsville, TX, USA. Dr. Basith has a Ph.D and Masters in Electrical and Computer Engineering from University of Windsor, ON, Canada with concentration on 3D IC, MEMS and Testing. Dr. Basith has published several IEEE transactions, articles and conference proceedings over the last few years. His research interest lies on Robotics, Tesing of 3D IC, MEMS, Analog/ Mixed-Signal Devices, RF circuits, Low Power CMOS and Wireless Communication.

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Brandon Marroquin Sam Houston State University

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Abstract

In today’s world there is an increasing need to create artificial arms where human interaction is difficult or impossible. In this paper we describe the implementation of a simple robotic arm capable of moving and lift some objects. The development of this arm is based on the Arduino UNO. The servos act as joints of the robotic arm which are controlled by corresponding potentiometer. We have used low torque servos here due to budget constraint and proof of concept; however more powerful servos can be integrated to pick heavy object. This particular robotic arm was designed with four degrees of freedom and programmed to accurately accomplish simple and light material lifting task as in the production line in any industry. However, it can be used as pharmacy-based drug-giving robots; in the medical sector and in automation systems. The generation of the human-like manipulation motions has been implemented and also tested successfully for the 4 degrees of freedom (DOF) arm of the humanoid robot. The presented approach does not consider the dynamics of the robot arm. This would be necessary to generate realistic velocity distribution for the manipulation motions. The implemented prototype has the ability to move in 4 axis directions with 4 servo motors. The voltage across variable resistors is not completely linear rather a noisy one. Capacitors are used across each resistor to filter out this noise, as shown in figure 1. This voltage represents the control position and is fed into four ADC channels of Arduino to get corresponding digital values. The Arduino UNO ADC has a resolution of 10 bit, means it maps input voltages between 0 and 5V into digital values between 0 and 1023; in other words, 4.9mV per unit. This project is very helpful for beginners who want to make a robotic arm with low cost. The steps to build this prototype is summarized below: • In this case we are using cardboard, but can be replaced by plastic o aluminum sheet • Take a flat and stable surface, like a table or a hard cardboard. Next place a servo motor in the middle and glue it in place. This servo acts as base of arm. • Place a small piece of cardboard on top of first servo and then place the second servo on this piece of board and glue it in place. • Take some cardboard and cut them into 3cm X 11cm pieces. Make sure the piece is not softened. Cut a rectangular hole at one end (leave 0.8cm from bottom) just enough to fit another servo and at another end fit the servo gear tightly with screws or by glue. Then fit the third servo in the first hole. • Now cut another cardboard piece with and glue another gear at the bottom of this piece. • Now glue the fourth and last servo at the edge of second piece. • For hook, cut another two pieces of cardboard of lengths 1cmx7cm & 4cmx5cm. Glue them together and stick final gear at the very edge. • Mount this piece on top and with this we have done building our Robotic Arm.

A simple demonstration can be viewed: https://www.youtube.com/watch?v=nklAu7L0_JU&feature=youtu.be

Citation
Format

Basith, I. I., & Marroquin, B. (2020, June), BYOE: Design and Development of a Simple Robotic Arm Paper presented at 2020 ASEE Virtual Annual Conference Content Access, Virtual On line . 10.18260/1-2--34245

TY - CPAPER
AB - In today’s world there is an increasing need to create artificial arms where human interaction is difficult or impossible. In this paper we describe the implementation of a simple robotic arm capable of moving and lift some objects. The development of this arm is based on the Arduino UNO. The servos act as joints of the robotic arm which are controlled by corresponding potentiometer. We have used low torque servos here due to budget constraint and proof of concept; however more powerful servos can be integrated to pick heavy object. This particular robotic arm was designed with four degrees of freedom and programmed to accurately accomplish simple and light material lifting task as in the production line in any industry. However, it can be used as pharmacy-based drug-giving robots; in the medical sector and in automation systems. The generation of the human-like manipulation motions has been implemented and also tested successfully for the 4 degrees of freedom (DOF) arm of the humanoid robot. The presented approach does not consider the dynamics of the robot arm. This would be necessary to generate realistic velocity distribution for the manipulation motions.
The implemented prototype has the ability to move in 4 axis directions with 4 servo motors. The voltage across variable resistors is not completely linear rather a noisy one. Capacitors are used across each resistor to filter out this noise, as shown in figure 1. This voltage represents the control position and is fed into four ADC channels of Arduino to get corresponding digital values. The Arduino UNO ADC has a resolution of 10 bit, means it maps input voltages between 0 and 5V into digital values between 0 and 1023; in other words, 4.9mV per unit. This project is very helpful for beginners who want to make a robotic arm with low cost.
The steps to build this prototype is summarized below:
• In this case we are using cardboard, but can be replaced by plastic o aluminum sheet
• Take a flat and stable surface, like a table or a hard cardboard. Next place a servo motor in the middle and glue it in place. This servo acts as base of arm.
• Place a small piece of cardboard on top of first servo and then place the second servo on this piece of board and glue it in place.
• Take some cardboard and cut them into 3cm X 11cm pieces. Make sure the piece is not softened. Cut a rectangular hole at one end (leave 0.8cm from bottom) just enough to fit another servo and at another end fit the servo gear tightly with screws or by glue. Then fit the third servo in the first hole.
• Now cut another cardboard piece with and glue another gear at the bottom of this piece.
• Now glue the fourth and last servo at the edge of second piece.
• For hook, cut another two pieces of cardboard of lengths 1cmx7cm &amp;amp; 4cmx5cm. Glue them together and stick final gear at the very edge.
• Mount this piece on top and with this we have done building our Robotic Arm.

A simple demonstration can be viewed: https://www.youtube.com/watch?v=nklAu7L0_JU&amp;amp;feature=youtu.be
AU - Iftekhar Ibne Basith
AU - Brandon Marroquin
CY - Virtual On line
DA - 2020/06/22
PB - ASEE Conferences
TI - BYOE: Design and Development of a Simple Robotic Arm
UR - https://peer.asee.org/34245
DO - 10.18260/1-2--34245
ER -