Robotic arm with controlled gestures using IOT
Nowadays gestured control mechanism is used in various domains like medical field, military, pick and place application the automation of industries. Bionic arms also link to the procedure of robotic arms. Many advanced ways are made to do the task. We are willing to make a pressure controlled robot
2025-06-28 16:28:59 - Adil Khan
Robotic arm with controlled gestures using IOT
Project Area of Specialization Internet of ThingsProject SummaryNowadays gestured control mechanism is used in various domains like medical field, military, pick and place application the automation of industries. Bionic arms also link to the procedure of robotic arms. Many advanced ways are made to do the task. We are willing to make a pressure controlled robotic arm that responds to the gesture of human hands exactly as the force is applied. Places where the access is uneasy or harmful for the humans, the robotic arm can be used as an alternate. There are many ways of controlling a robotic arm, it can be a nerve controlled system or an automated controller or vision based gestures. In this project the accelerometer approach is used for the gesture movements of a human hand and for transmission of sensor data from hand to robot, we will be using internet.
Project Objectives- To design a model of robotic arm that has six degrees of freedom (i.e. 6-DOF) that has no wired contact with the operator.
- To employ the humanoid motion on the mechanics of the robotic arm so that the robotic arm can move freely along with the gestures of the glove that a human would be wearing.
- To make this unit of robotic arm a vehicle so that it cannot be fixed on some specific area and can move from one place to another on the ground with the help of a cart that would be added to the base of the robotic arm.
- To connect the glove (i.e. transmitter) with the robotic arm (i.e. receiver) through internet for vast range using IoT with the least possible lag.
- To increase the production rate in industries where human interfacing is difficult. Industries that have harsh environment like the paint job area of body parts of some machinery can be tackled by this kind of technology.
In order to build robotic arm, a 3D model is required for the structure of the arm. Also the chassis of the mobile cart is designed according to the base size and weight of the robotic arm.
As the gyro-accelerometer is being used here so we need to study axis of joints in an arm in order to implement the same principles on the robotic arm. A human arm can move freely in space with the help of body, but on the robot, a waist is required for the rotation of the base of this unit. Then there comes a shoulder joint, it has a lot of load as the picked object and the volume of arm itself will be controlled by this axis, hence it requires a motor with a capability that can bear higher torque. The elbow joint comes after this towards the gripper; this axis has a limit of rotation of about 180?. The wrist of the robotic arms needs to have two motors for the motions of a human wrist i.e. rotational motion along the arm and vertical movement. The gripper of this assembly is the most complex design as it requires higher precision with in a small size for gripping objects effectively. There can be a two way or three way gripper for picking things up.
For the wireless communication between human hand and robotic arm, we will be using interner so that we can have a large range and the robotic arm can be cobtrolled from anywhere while observing the objects around it with a camera attached to the cart that moves the robotic arm.
The design phase of the robotic arm requires a detailed study of axis and rotations of an arm. The concept of our prototype is displayed the figure: 3 for the understanding of the axis. The base of would be connected to the waist of the body which is labeled as axis 1. The shoulder of the body is labeled as axis 2 while the elbow joint is shown as axis 3. The joints of the wrist are a bit unique because the movement of wrist requires at least 2 degrees of motion i.e. vertical movement and rotation along the axis of arm. The axis 4 controls the rotation of the wrist and the axis 5 controls the vertical motion of the wrist. Our design consist of six degrees of freedom and the 6th axis is actually used to control the opening and closing of the gripper.
The sketch of the model shown below gives the reader a better visualization of the design that is proposed here. It also illustrates that how the design is being called a 6-DOF design.
The proposed framework can play out the different assignments like pick and place, painting, bulb fitting and so on, the movable prototype network so far assists the human with many working operations. In industrial areas a design of this kind of prototype can be used in the manufacturing department where human access is difficult. This study can also be used in the bioengineering for bionic arms as it tallies with the movement of a real life human arm. This robotic arm also has its application in the automotive industry or in robotics where humanoid and autonomous robots are being made for future development. A similar mechanism is also being used by NASA for sample collection on different places in space where human access is not possible.
Technical Details of Final DeliverableThe final deliverable of the project would consist of a prototype of robotic arm with six degrees of freedom and it would also have a linear actuator attached on its upper arm for the length extension of about four inches so that the gripper can reach some extra height. The base of the robotic arm would be attached to a cart that would have a camera on it and this cart would be controlled via a mobile app wirelessly over internet. This cart would also be used for placing other equipment like controller and battery etc.
A wearable glove would be made for tallying the human arm movements; the glove would have two gyro-scope sensors attached to it, one for the arm and one controlling the axis of hands. A flex sensor would be attached to a finger for controlling the movement of the two way claw. The wireless communication between the glove and the robotic arm would be done through internet using a Wi-Fi module (Esp-32).
Final Deliverable of the Project HW/SW integrated systemCore Industry ManufacturingOther Industries Medical , Agriculture , Transportation Core Technology Internet of Things (IoT)Other Technologies 3D/4D Printing, Robotics, OthersSustainable Development Goals Good Health and Well-Being for People, Industry, Innovation and InfrastructureRequired Resources| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 71960 | |||
| Raspberry Pi 4 | Equipment | 1 | 38500 | 38500 |
| Raspberry Pi camera | Equipment | 1 | 7300 | 7300 |
| Big servo motors | Equipment | 5 | 700 | 3500 |
| Small servo motors | Equipment | 5 | 250 | 1250 |
| Wifi Module Esp-32 | Equipment | 1 | 850 | 850 |
| Car chassis | Equipment | 1 | 1800 | 1800 |
| 3D printing cost for robotic arm | Equipment | 1 | 12500 | 12500 |
| Gyro sensor MPU6050 | Equipment | 300 | 2 | 600 |
| Batteries | Equipment | 1 | 1600 | 1600 |
| Flex sensor | Equipment | 1 | 1900 | 1900 |
| Petrol | Miscellaneous | 1 | 1500 | 1500 |
| Jumper wires | Miscellaneous | 4 | 120 | 480 |
| Breadboard | Miscellaneous | 1 | 180 | 180 |