Design and Fabrication of 4-DOF Hand Motion Controlled Robotic Arm
Robotic Arm is the most commonly used application in the field of Robotics. In embraces industrial applications like welding, material handling, thermal spraying and much more. In this project a robotic arm is designed which simply follows the hand movements and moves accordingly. This robotic arm c
2025-06-28 16:31:27 - Adil Khan
Design and Fabrication of 4-DOF Hand Motion Controlled Robotic Arm
Project Area of Specialization RoboticsProject SummaryRobotic Arm is the most commonly used application in the field of Robotics. In embraces industrial applications like welding, material handling, thermal spraying and much more. In this project a robotic arm is designed which simply follows the hand movements and moves accordingly. This robotic arm can be used in industries where it requires human intelligence as well as machines help. The work done by this Robotic hand at one time can be followed by hundreds of robotic arms hence we can save time and efforts. Moreover, it can perform numerous tasks at one time. This robotic system consists of an assembly of mounts and parts are designed to hold motors in place in order to achieve desired movement. The movement of its parts is done by servo motors. Sensor is mounted on the gloves worn by user to operate the Robotic Arm.
Project Objectives- Mathematical Modeling of Robot Arm (Manipulator)
- Design of Robotic Arm (Manipulator)
- Recognition of Hand Gestures
- Interfacing of Sensors and Motors with Controller
- Fabrication and Assembly of Hardware
- 4-DOF movement of Robotic Arm
First of all, the main goal is to understand the concept of project initially. After making choice of Robotics a detailed literature Review has been done before starting the project. Different projects are studied with their achievements and limitations that occur during Process. Then calculations are made for the links and joints of manipulator and the torque of the motors that are going to use in our project. Then design the links and base of our manipulator is made on ground calculations. In short CAD model is designed for manipulator. After that the sensors and motors are interfaced that are going to use in project. Assembly of all the links and joints and attachment of the motors and sensors in order to turn it in working condition is being done. After assembly multiple tests are to be performed to check the proper functionality of robotic arm manipulator.
Benefits of the Project- One of the main advantages of a collaborative robotic arm in the factory is that they are highly precise and accurate. Robots work exactly how they are programed to do without any deviation hence they are accurate and precise.
- Robotic arms help companies to improve their production capacity. Robots are mechanical and do not require breaks and can work the whole day. They do not get sick or call in absent. In addition, they work faster and more accurately than any human worker. As a result, they will produce more per hour than any human worker.
- Speed and efficiency are the main competitive advantage that robots bring to an industrial operation. Robots are fast and are highly efficient in carrying out their tasks. They are accurate and precise, they can perform multiple tasks and can help organizations improve their financial status and market position.
- Work that is dull, dangerous, dirty or difficult is assigned and is suitable for such Robotic Arms. As a result, the workers who carried out this work previously, are now able to engage in other tasks to improve working conditions.
- Movement or work done from Robotic Arm or hand is a fascinating benefit of robotics. Some jobs are very hazardous or subject to toxic substances, unclean for people to easily perform them. These are suitable robotics jobs. This includes tasks as easy as spray painting because there is no need to stress over the robot breathing in the paint fumes
- Generally, individuals need to get breaks, distracted, interests and lots more, with time making their attention to work decrease. Making use of a robot Arm, can perform functions round the clock and also maintaining 100% performance.
- 4-DOF Motion Robotic Arm, First “Waist Rotation” second “Shoulder Movement” Third “Elbow Movement” and Fourth “Wrist Movement”
- Control of this arm is through Wireless Communication
- Servo Motors attach at each joint for controlling the motion of Robotic Arm
- Sensors sense the hand movement and microcontroller process the analogue signal and send through transceiver and on the other end same process is going (i-e transceiver receives the signal and again microcontroller processes the signal and also actuate the motors w.r.t desired motion of hand)
- 3-D printed material is used for making the robotic arm using proper dimensions instead of using standards.
- PETG is used a material for 3D printing. All the parts of manipulator including base, arms and end effector are made using 3D printer (PETG is used as material).
- The manipulator is 4 DOF and an end effector is also attached which looks like a hand. This end effector can be used for different functioning like pick and placing of objects and other functioning also.
- Waist rotate 360 degrees, shoulder 180 degrees, elbow 180 degress and wrist 360 degrees approx.
| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 41005 | |||
| Stm 32 f 103 C8T6 | Equipment | 1 | 550 | 550 |
| Pic 16F877A | Equipment | 1 | 350 | 350 |
| NRF24L01+ | Equipment | 2 | 650 | 1300 |
| MPU 6500 | Equipment | 1 | 870 | 870 |
| 4.5 inch Flux sensor | Equipment | 3 | 4100 | 12300 |
| MG996R / MG995 Servo motor | Equipment | 3 | 700 | 2100 |
| SG90 micro-servo | Equipment | 2 | 290 | 580 |
| Resistor | Equipment | 10 | 2 | 20 |
| capacitor | Equipment | 10 | 10 | 100 |
| transistor | Equipment | 5 | 100 | 500 |
| crystal | Equipment | 3 | 25 | 75 |
| pushbutton | Equipment | 5 | 2 | 10 |
| PCB board | Equipment | 2 | 50 | 100 |
| Breadboard | Equipment | 1 | 150 | 150 |
| 3D Printed Material (PETG)) | Equipment | 1 | 15000 | 15000 |
| Printing / Report Material | Miscellaneous | 1 | 5000 | 5000 |
| stationary / overhead | Miscellaneous | 1 | 2000 | 2000 |