Micro Servo Robot

Project Title

Micro Servo Robot

Project Area of Specialization RoboticsProject Summary

4 axis robot arm with a small gripper and teach function. (In fact: it is a 3 axis robot) This robot can follow. This robot can learn. And this robot can repeat endles. And he lost all his memory if the batterys are low. This makes it new all the time he is powered again.

Project Objectives

The pick and place robot being execute to moderate the process of sorting, process of moving heavy materials etc. Usually the convey process of the heavy materials is being execute, using man power and if the transfer process is repeated for a period of time, it can cause wounds to the operator. By using the specific robot the operator, will no longer have to curve and lift up heavy loads thus preventing wound and increasing the organization of the work. Operator will make mistakes whether small or big in a while. In the industrial world, the industry cannot afford to take any kind of mistakes. As every mistake is costly whether interns of time, money and material.

Project Implementation Method

1. The voltage across variable resistors is not completely linear; it will be a noisy one. So to filter out this noise, capacitors are placed across each resistor.
2. The arm has been built with cardboards and the individual parts have been locked to servo motors. Arduino Uno is programmed to control servo motors. Servos motors are acting as joints of Robotic arm here. This setup looks a like aRobotic Crane or we can convert it into a Crane by easy ways
3. This Robotic Arm is controlled by four Potentiometer with which we attach each with potentiometer that is used to control each servo. We can move these servos by rotating the potentiometer to pick some object, with some practice we can easily pick and move the object from one place to another. Here we use low torque servos here but we can use more powerful servos to pick heavy object.
4. Program done using Arduino 1.6.10.
5. We connect the circuit according to circuit diagram.
6. Now the voltage provided by these variable resistor voltage which represents position control into ADC channels of Arduino.
7. We are going to use four ADC channels of UNO from A0 to A3. After the ADC initialization, we will have digital value of pots representing the position needed by user.
8. We will take this value and match it with servo position.
9. The robotic arms takes a perfect scaling that is cardboard, foam board is cut using measuring a servo are fitted according so that position of one servo motor does not affect the position of other servo motor.
10. As we rotate the 10K pot the value changes accordingly and we get rotation in the output of servo motor.

Benefits of the Project

1. Grasping and holding objects and then move them to a new location, or mixing with other fluids.
2. Used in laboratories that trust such arms to work within a poisonous environment and so do not imperil the analyzer. Building cars.
3. Recovering doubtful objects without imperilling humans.
4. Dig trenches.
5. A source of entertainment and education.
6. An me of an anthropocentric robot.
7. Used in surgery.
8. Used in farming

Technical Details of Final Deliverable

Arduino has six ADC channels. Here four are used for the robotic arm. The UNO ADC is of 10 bit resolution so the integer values ranging from 0-1023(2^10=1024). This means that the input will map voltages  from 0 and 5 volts into integer values between 0 and 1023. So for every (5/1024=4.9mv) per unit. As all the UNO ADC channels has a default reference of 5V for ADC conversion at any input channel. Since some sensors provide voltages from 02.5V, with a 5V reference we get lesser accuracy, so we have a instruction that enables us to change this reference value. So for changing the reference value we have ("analogReference();"). As default we get the maximum board ADC resolution which is 10 bits, this resolution can be changed by using instruction (”analogReadResolution(bits);"). This resolution change can come in some cases.Now if the above condition are set default, then we can read value from ADC of channel '0' by directly calling function "analogRead(pin);", here pin represents pin where we connect analog signal. The value from ADC can be taken into an integer as float voltage value=analogRead(A0); by this instruction the value after ADC gets stored in the integer "Voltage value". We will have to use ADC channel of Arduino UNO with the help of above function:

a. analogRead(pin);

b. analogReference();

c. analogReadResolution(bits);

Now talking about servo, the arduino Uno has a feature which enables us to control the servo position by just giving the degree value. Say if we want the servo to be at 60, we can directly represent the value in the program. The Servo header(Servo.h) file takes care of all the duty ratio calculations internally.

Final Deliverable of the Project HW/SW integrated systemCore Industry TransportationOther Industries IT , Agriculture , Manufacturing Core Technology RoboticsOther Technologies Artificial Intelligence(AI), Internet of Things (IoT)Sustainable Development Goals Decent Work and Economic Growth, Industry, Innovation and Infrastructure, Responsible Consumption and ProductionRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	65050
Arduino	Equipment	3	8000	24000
Jumper Wires	Equipment	200	100	20000
Potentiometer	Equipment	10	550	5500
Servo Motors	Equipment	10	550	5500
Resistors	Equipment	20	50	1000
Switches	Equipment	5	100	500
Breadboard	Equipment	2	800	1600
Glue Gun	Miscellaneous	1	1000	1000
Soldering	Miscellaneous	1	750	750
Wood	Miscellaneous	10	100	1000
Battery	Equipment	2	1000	2000
Wooden Board	Miscellaneous	2	1000	2000
UHU	Miscellaneous	2	100	200