PROJECT CONSTRUCTION

1. Programmability, implying computational or symbolic manipulative capabilities that a

designer can combine as desired (a robot is a computer)
2. Mechanical capability, enabling it to act on its environment rather than merely function as a
data processing or a computational device (a robot is a machine).
3. Flexibility in that it can operate using a range of programs and manipulates and transport
materials in a variety of ways.
We have 3 major parts for this project.
1. HC-05.
2. Electronics circuit.
3. Robotic arm.

Fig 3.1: Block diagram of project

3.1 HC-05 Bluetooth to serial port module

Communication device:-over project is based on wireless communication

between micro controller and mobile phone. But alone micro controller is not able to
communicate directly to the android mobile phone. Bluetooth Serial module’s
operation doesn’t need drive, and can communicate with the other Bluetooth device
that has the serial. But communication between two Bluetooth modules requires at
Least two conditions:
(1) The communication must be between master and slave.
(2) The password must be correct.
HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed for
transparent wireless serial connection setup. Serial port Bluetooth module is fully qualified
Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz
radio transceiver and baseband. It uses CSR Blue core 04-External single chip Bluetooth
system with CMOS technology and with AFH (Adaptive Frequency Hopping Feature). It has
the Foot print as small as 12.7mmx27mm.
HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed for
transparent wireless serial connection setup. Serial port Bluetooth module is fully qualified
Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz
radio transceiver and baseband
Bluetooth Wireless networks for short range communications have a wide spread usage of
Bluetooth radio transmissions between 2400–2480 MHz Modern mobile devices embed
small, low-powered and cheap integrated chips functioning as short-range radio
transceivers for Bluetooth radio communications. Device pairing, authentication,
encryption and authorization techniques have given recognition to Bluetooth technology
due to its vital security mechanisms.
Different types of Bluetooth applications can be developed using Android platform
architecture using the Bluetooth profiles. The device manufacturers provide the services
using the support of these profiles in their devices to maintain compatibility for the
Bluetooth technology.

The Bluetooth module HC-05 is used to receive & transmit data between Bluetooth
device and MCU. It requires power supply from 3.3V to 5V.
Pairing:
After connect the Bluetooth module, scan for new devices from the Android phone and
you will find the module with the device name “HC-05”, after that, click to connect, if
some message appears asking about “Pairing code” just put
“1234” as default code.
BLUE LED = ACTIVE (Blinking 500ms period inactive connection, change 1seg with
active connection)

Figure 3.2: Pin-out of HC-05

3.2 ELECTRONIC CIRCUIT
In this project we use an Arduino board, PCB board, 4Servo motor, and potentiometer, power
supply.

Fig 3.3: Circuit Diagram

Circuit connections are done exactly done in above diagram. Potentiometers are
shown as Potx and servo motors shown as Servox. A simple dc motor is also connected.
All the Potx are connected to the analog port on Arduino. On this port we have ADC
(Analog to Digital Convertor) circuit. All values received from sensors is fed into the ADC
and it help to controller to determine the rise and fall in values of sensors. ADC automatically
converts the max voltage (5v dc) to 1023 and min voltage (0v dc) to 0. So, each sensor has
range from 0 to 1023 which is read by controller. There is flexibility available to make
changes in this range according to the user requirements. These values also can be seen on
serial monitor of Arduino ide when hardware is connected with pc throw usb cable.
On output side of circuit, it connected with servo motors. Servo motors are connected
to the 5v dc and 0v ground. Signal pin or control pin of each servo is connected with PWM
pins of Arduino board. Servo motor is controlled by applying the PWM signal of different
length. Basically, 15ms to 20ms is used to control the angles from 0 to 1800. There are only 6
PWM pins are available on Arduino board. [5]

For controlling the dc motor, it is connected with power supply and a switch is used to
control its action.

Fig 3.4: Circuit

3.3 ROBOTIC ARM

A robotic arm is a robotic manipulator, usually programmable, with similar functions to a
human arm. Servo motor is used for joint rotation. It has about same number of degree of
freedom as in human arm. Humans pick things up without thinking about the steps involved.
In order for a robot or a robotic arm to pick up or move something, someone has to tell it to
perform several actions in a particular order — from moving the arm, to rotating the “wrist”
to opening and closing the “hand” or “fingers.”.
So, we can control each joint through computer interface. Some advanced robot arms
make use of sensors like motion and pressure sensors in order for it to detect foreign obstacles
and avoid breaking or dropping what it is carrying. Robot arm also vary with the type of end
effecter that they are using. The kind of end effecter that a particular robot arm is using is
very much dependent on the kind of task the robot is designed for:
1. Blowtorches for auto assembly lines robots.
2. Drills for metal application robots.
3. Spray paints for decoration oriented robots.
4. For welding purpose.
5. For pick and place applications.

Fig 3.5: Robotic arm

Fig 3.6: Robotic arm Prototype

 Pulse Width Modulation or PWM is a common technique used to vary the width of
the pulses in a pulse-train. PWM has many applications such as controlling servos and speed
controllers, limiting the effective power of motors and LEDs.
Basic Principle of PWM
Pulse width modulation is basically, a square wave with a varying high and low time. A
basic PWM signal is shown in the following figure.

Fig 3.7: PWM Signal

Fig 3.8: Angle Movement

There are various terms associated with PWM −

On-Time − Duration of time signal is high.
Off-Time − Duration of time signal is low.
Period − It is represented as the sum of on-time and off-time of PWM signal.
Duty Cycle − It is represented as the percentage of time signal that remains on during
the period of the PWM signal.
Period
As shown in the figure, Ton denotes the on-time and Toff denotes the off-time of signal.
Period is the sum of both on and off times and is calculated as shown in the following
equation − Ttotal=Ton+ToffTtotal=Ton+Toff

Fig 3.9: Servo Motor Rotation using PMW

Duty Cycle
Duty cycle is calculated as the on-time of the period of time. Using the period calculated
above, duty cycle is calculated as −

D=TonTon+Toff=TonTtotal