SCHOOL OF ELECTRONICS ENGINEERING

(SENSE)

PROJECT REPORT
“Robotics arm and 2D construction

Submitted by :
B N SOHITH – 16BEC0510
DALAVAI YUVARAJ– 16BEC0134

M L GOWRI SHANKAR – 16BEC0531

ABHIGNAN – 16BEC0484

Submitted for the course:

Robotics and Automation – ECE2008
Faculty:
Prof. Venugopal P

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 CERTIFICATE
This is to certify that the project entitled “ROBOTIC ARM AND 2D
CONSTRUCTION” that is being submitted by for the course
Robotics and Automation is a record of Bonafide Work done
under my supervision. The contents of this project have not
been submitted for any other CAL course.
Place: Vellore
Signature of the students:
B N SOHITH – 16BEC0510
DALAVAI YUVARAJ– 16BEC0134

M L GOWRI SHANKAR – 16BEC0531

ABHIGNAN – 16BEC0484
Signature of the Faculty
Prof. Venugopal P

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 ACKNOWLEDGEMENTS

A lot of effort has been put up in the completion of this project. We

would like to thank Prof. Venugopal P to whom we are highly
indebted for his immense support and guidance throughout the course
of completion of this project. This project has helped us in providing a
deeper insight into the working of a robotic arm and 2D
reconstruction and the basics of robotics. We would also like to thank
the Dean of School of Electronics and Communication Engineering
(SENSE) for giving us this opportunity to do this project and to
pursue our careers as budding engineers in this prestigious university.

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 ABSTRACT
This project aims at building a robotic arm to which an object (here,
we use a pencil) will be attached to the robotic arm and we will
control the arm using an Arduino UNO. The pencil attached to the
robotic arm will help in drawing or reconstructing a 2D image in a
fully automated manner. The robotic arm can move the hardware at
different panning speeds, specific angles, fixed distances from the
object, and more. From a testing perspective, our main goal is to test
the 2D reconstruction feature’s functionality, quality, applicability,
stability and efficiency.

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 INTRODUCTION
Robotic Arm: A robotic arm is responsible for very complicated
processes which requires a rigorous and complex programming. A
robotic arm is a type normally programmable mechanical arm, similar
to the functions of a human arm. The major components in a robotic
arm are the servo motors for accurate and precise torque control and
movement. The 2parts of these manipulators or arms are
interconnected through articulated joints that allow both a rotational
movement ( such as an articulated robot ) , as a translational linear
move.
The key component of the test setup is the robotic arm. The Robotic
arm has varied applications which can be programmed to meet the
objective. It holds a device, whose level is adjusted by programming
the robotic arm. However, the main purpose of the robotic arm is to
draw a figure or reconstruct a particular figure.
COMPONENTS USED:
1) Arduino UNO
The Arduino UNO is an open-source microcontroller board based on
the Microchip ATmega328P microcontroller and developed
by Arduino.cc. The board is equipped with sets of digital and analog
input/output (I/O) pins that may be interfaced to various expansion
boards (shields) and other circuits. The board has 14 Digital pins, 6
Analog pins, and programmable with the Arduino IDE (Integrated
Development Environment) via a type B USB cable. It can be
powered by a USB cable or by an external 9 volt battery, though it
accepts voltages between 7 and 20 volts. It is also similar to the
Arduino Nano and Leonardo. The hardware reference design is
distributed under a Creative Commons Attribution Share-Alike 2.5
license and is available on the Arduino website. Layout and
production files for some versions of the hardware are also available.
"Uno" means one in Italian and was chosen to mark the release of

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Arduino Software (IDE) 1.0. The Uno board and version 1.0 of
Arduino Software (IDE) were the reference versions of Arduino, now
evolved to newer releases. The Uno board is the first in a series of
USB Arduino boards, and the reference model for the Arduino
platform. The ATmega328 on the Arduino Uno comes
preprogrammed with a bootloader that allows uploading new code to
it without the use of an external hardware programmer. It
communicates using the original STK500 protocol. The Uno also
differs from all preceding boards in that it does not use the FTDI
USB-to-serial driver chip. Instead, it uses the Atmega16U2
(Atmega8U2 up to version R2) programmed as a USB-to-serial
converter.
2) Breadboard
3) Generic Jumper Wires
4) 3 Rotary Potentiometer
5) 3 Push Buttons
6) 5 LEDs
7) Five 221 ohms Resistors
8) 10 uF Capacitors
9) 3 Servo Motors
A servomotor is a rotary actuator or linear actuator that allows for
precise control of angular or linear position, velocity and
acceleration. It consists of a suitable motor coupled to a sensor for
position feedback. It also requires a relatively sophisticated controller,
often a dedicated module designed specifically for use with
servomotors.
Servomotors are not a specific class of motor although the
term servomotor is often used to refer to a motor suitable for use in
a closed-loop control system.
Servomotors are used in applications such as robotics, CNC
machinery or automated manufacturing.

10) Two 10 kilo Ohm Resistors

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The Arduino UNO is used to program the robotic arm. The Rotary
Potentiometer provides variable resistance to generate variable
voltage which helps in changing the position of the arm. The Servo
motor is the main component of the robotic arm. It helps in
providing the required movement of the arm physically.

FLOWCHART OF THE EVENTS

START THE
PROGRAM

THE PC STARTS TEST AUTOMATION. THE ROBOTIC ARM

MOVES THE DEVICE ON THE PLATFORM TO START THE

THE ROBOTIC ARM MOVES THE DEVICE UP AND DOWN ON THE

PLATFORM TO CONSTRUCT/RECONSTRUCT THE FIGURE.

NO

DID THE ROTOR FINISH THE MOVEMENT OF THE DEVICE TO THE

END OF THE PLATFORM (180 DEGREES SCAN)?

YES

THE MICROCONTROLLER STOPS THE ROBOTIC ARM AND THE

FIGURE IS COLLECTED.

STOP THE PROGRAM.

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 TEST AUTOMATION ALGORITHM:
Our current test automation enables most of the testing procedure.
Before starting the automation, the chosen test object needs to be
placed on the centre of the rotor platform for reconstruction.
Then the device is placed on the robotic arm. First, the automation
script from the microcontroller controlling the robotic arm is sent to
the robotic arm controller. According to the test parameters, the script
triggers the corresponding pre-generated robot programs to move the
test device to the reconstruction/construction position facing the
testing platform with the same approximate level. After the device
position is ready, the test script sends commands to the test device to
start the reconstruction at P1. After the reconstruction is done at that
level, the robotic arm waits for a few seconds when the testing script
controls the robotic arm to move to another level on the testing
platform, where reconstruction/ construction is begun on that level.
This process is repeated until it reaches P1 or the end of the platform.
The script enables the device to reconstruct/construct a figure on the
testing platform. The automation program will loop through the pre-
set number of iterations and repeat the scanning process to reach the
iteration count. It will return the device back to where it picked it up
after the iterations are complete. The arm then moves back to original
resting position. The automation script will collect the result files and
are delivered to the testers to evaluate. The device used for
reconstruction/construction is a pencil. The distance requirements,
outputs, the angles of the orientation of the device are all displayed on
the serial monitor of the Arduino IDE.

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HARDWARE:

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