Volume 8, Issue 5, May – 2023 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

Development of Six Axis Robotic Arm by

Additive Manufacturing
Mohit Gaur1,*
Stuti Shrivastava1
Lakshit Singh Bagri1
Mukul Raghuwanshi1
1
Final Year Student Department of Mechanical Engineering, SATI, Vidisha-464001, India

Chandra Pal Singh2

2
Assistant Professor Department of Mechanical Engineering, SATI, Vidisha-464001, India
*
Corresponding Author E mail :- Mohit Gaur1,*

Abstract:- In this paper, we have utilized additive high precision. Additive manufacturing is expected to
manufacturing for the development of a robotic arm at a reduce the cost of robotic arms for small-scale industries.
low cost. The robotic arms available in the market are These robotic arms can be designed and manufactured at a
often very expensive and not customizable. Small lower cost and in a shorter time frame than traditional
industries cannot afford the setup and customization cost manufacturing methods. In this way, additive manufacturing
of robotics. However, by using 3D printing, one can is transforming the field of robotics and paving the way for
develop complex products with their own innovative applications in various industries.
customizations.3D printing offers a cost-effective
solution for producing these arms in comparison to II. LITERATURE SURVEY
traditional methods. This enables small industries to
automate their processes and increase efficiency, The integration of 3-D and robotic systems has
ultimately leading to higher productivity and growth in enabled the creation of automated and efficient processes.
their business. The aim of this paper is to present our This literature survey provides a brief overview of the
development of a 6 DOF robotic arm and the robotic systems produced through additive manufacturing.
methodology we followed for its creation. The robotic
arm we developed in this paper can be programmed to Dilberoglu. et al. [2] have describes, a comprehensive
perform a wide range of tasks and can also be controlled review on additive manufacturing (AM) technologies and
using artificial intelligence techniques. their impact on Industry 4.0. The analysis specifically
highlights three key areas of AM: recent developments in
I. INTRODUCTION material science, process development, and improvements in
design considerations..
Robotic arms are the key component of industrial
automation. When AI is added to them, it becomes the Saerang. et al. [3] have describes the design and
evolution of industry 4.0. They have a wide range of fabrication of a 3D printed robotic which has a 6-Axis. The
applications and are used in every field, such as aerospace, design of the new robotic arm was influenced by the UR5
medical, transportation, food, and beverages. They are manipulator, with the aim of achieving comparable levels of
typically made up of several joints and links that allow them movement versatility.
to move and rotate in a variety of ways. Robotic arms can be
controlled manually or through programming, and can be Grzesiak. et al. [4] have described the development of
equipped with a variety of tools and sensors to perform the Bionic Handling Assistant as well as the additive
specific tasks with precision and accuracy. manufacturing (AM) process of robot grippers and its
possibilities.
Additive manufacturing plays a crucial role in Industry
4.0 by enhancing productivity and efficiency. It is a process Almurib. et al. [5] have described an overview of
of creating 3-D objects by layering material on top of each industrial robotic arms around the world, with a focus on the
other, rather than removing material like traditional mechanisms and components that make up these machines.
manufacturing processes. It’s just a opposite of Subtractive In addition, this paper will explore the broader field of
Manufacturing. robotics, including classifications based on actuator types,
application areas, and methods of control. By examining
3D printing has revolutionized the production of these aspects of robotics, readers can gain a deeper
robotic arms, enabling the creation of customized arms that understanding of the various types of robots and their
can perform specific tasks with greater efficiency and potential uses in industry and beyond.
accuracy by printing complex shapes and structures with

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Volume 8, Issue 5, May – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
Harish. et al. [6] have proposed a pick and place robot  Link Mechanisms
concept utilizing Arduino and controlled via RF play station This Consist of a assembly of 11-Different Parts
and successfully implemented. The robot is capable of Which Provide Different Motions to End Effector.The total
locating the object to be lifted by utilizing its chassis and height of the link mechanisms is 0.42527 m.
four DC motors to move to the designated location.

Mohammed Ali et al. [7] have describe the

development of an Arduino-powered robotic arm, which can
be controlled remotely via a mobile application. The robotic
arm, with six degrees of freedom, was specifically designed
and constructed for the purposes of this study.

Pillai et al. [8] have conducted a survey of 460 senior

managers and owners of automotive component
manufacturing companies (ACMCs) in India to investigate
their adoption intention and potential use of InRos. The
results suggest that factors such as perceived compatibility,
external pressure, perceived benefits, and support from
vendors play crucial roles in predicting the intention to
adopt InRos.

III. METHODOLOGY

This paper will describe the methodology used to

create a 6 DOF (degree of freedom, defined as the number
of independent ways that a mechanical component can move
without violating constraints) robotic arm through additive
manufacturing.

This process is divided into three phases: CAD design,

printing parts using additive manufacturing, and assembly
and circuit design.

 Cad Design
Computer-Aided Design (CAD) is a software
technology used for creating, analyzing, and optimizing
designs digitally. It is widely used in most of industries. Fig 2 Links of Robotic Arm

We have used Solidworks software one of the widely  Base

used CAD Software. It provides a range of powerful tools This consist of a assembly of 9-Different parts which
for creating details 3D Models, simulating product behavior, provide base support for the robotic arm and provide
and testing designs under real-world conditions The design rotational motion in 360 degree direction. The height of
of the parts are divided into three part:- Base is 0.094 m.

 End Effector
This consists of an assembly of eight different parts.
The main function of the end effector is to move objects
from one place to another within its working area.

Fig 1 End Effector Fig 3 Base Support of Robotic Arm

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Volume 8, Issue 5, May – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
 Printing of Parts using 3-D Printer Handling Cad data is first step in creating high quality
3D printing is a process where a 3D part is printed printed parts.
layer by layer by melting ABS (Acrylonitrile Butadiene
Styrene) polymer. Netfabb is the Software which helps in prepare the
CAD Models for Additive Manufacturing. Netfabb allows
For printing purpose we used AION 500 MK2 3-D us to read data from all commonly used CAD software. We
Printer with printing area of 500mm × 500mm × 500mm. can import our Solidworks file on Netfabb, and during the
The nozzle temperature for printing ABS on this machine is import process, Netfabb stores the parametric information
245°C, and the bed temperature is 75°C. The porosity level associated with the file. You can choose the tessellation
of the printed ABS is not typically measured in percentage. setting and create a mesh, and you can change this setting at
any stage of the print process by simply re-tessellating the
Porosity is a measure of the empty spaces or voids model using the underlying parametric information and
within a material, and it is usually expressed as a percentage optimizing your workflow. Netfabb has various tools to
of the total volume of the material work with mesh files natively for your print preparation, and
if there are any errors in the file, they can be addressed in
just a few clicks using Netfabb's powerful mesh analysis and
repair tools. After repairing the model, we save it in .STL
file format for further use. The next step is to convert the
.STL file into G-Code. G-Code is a programming command
that control the motion of the nozzle in all XYZ direction.
To convert the .STL file to G-Code, we used KISSlicer
software, which slices STL files into printer-ready G-Code
files. After converting the model into G-Code, we upload
the G-Code into the machine and then start printing after
some prior setup of the machine.

The prior setups include bed temperature, extruder

temperature, cleaning the bed, extruder speed, and using
glue on the bed.

Be careful with the prior setup. If the bed temperature

is not within the specified range or if the glue is not applied
Fig 4 Aion 500 3d Printer perfectly on the bed, the product may get damaged as shown
in Figure 6.
 Properties of ABS:-

 Tensile Strength: 40-50 MPa

 Flexural Strength: 65-80 MPa
 Impact Strength: 10-20 kJ/m2
 Heat Deflection Temperature: 80-100 °C
 Density: 1.05-1.07 g/cm3
 Water Absorption: 0.2-0.4%
 Electrical Resistivity: 10^15-10^17 ohm-cm
 Coefficient of Thermal Expansion: 70-110 x 10^-6/°C

Fig 6 Damaged Part During Printing

After the material is printed, it is required to remove

the supporting material and clean it before assembly.

 Assembly and Circuit Design.

Assembly of all parts is done using screws. The
MG996R High Torque Servo motor is used for the rotation
of links, and the NEMA-17 Stepper motor is used for base
Fig 5 3-D Printer internal setup rotation.

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Volume 8, Issue 5, May – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
The load distribution is very important in terms of
enabling a servo motor to deliver high torque. For our
project, we used an adjustable power module to supply 5V
and 3A of power.

Fig 9 Force and Load Distribution Diagram

 Now,

 Torque τ = rF
 τ = (1.0cm*cos(450))*(49N)
 τ = (0.00708m)*(49N)
Fig 7 Robotic Arm Circuit to Control  τ = 0.3469 Nm
 τ =3.53 Kg-cm
With 6 DOF, the robotic arm can cover a wider range
of area, making it very important for the industry. After V. CONCLUSION
assembly, the arm can be programmed as per the specific
requirements. If it is integrated with IOT and AI, then it can Robotic arms combined with additive manufacturing
become a key component of Industry 5.0. provide a new opportunity for small industries to automate
their businesses and expand in the field of AI. Additive
manufacturing enables the development of customized
robotic arms at a lower cost. Although additive
manufacturing has some limitations, such as longer printing
times, as technology continues to advance, these challenges
are expected to be resolved.

While printing our project, we observed that the

adhesion between layers can be affected by variations in bed
and nozzle temperature, as well as printing speed. We found
that if the printing speed is too high, the adhesion force
between layers may be reduced, leading to a weaker bond
and potentially causing the part to become damaged. High
bed temperature can cause thermal stresses to build up
within a printed part, which may result in warping or
bending of the part. This is a common issue in 3D printing,
particularly with materials like ABS that have a high
coefficient of thermal expansion. Therefore, it is important
to maintain consistent bed and nozzle temperatures, and
adjust printing speed accordingly to ensure proper adhesion
between layers and the overall quality of the printed part.

Fig 8 3-D Printed Robotic Arm The integration of robotic arms and additive
manufacturing is a promising development for small
As a prototype, we used Arduino-UNO for industries seeking to improve their manufacturing processes
programming for a specific task such as pick and place. It and competitiveness. With continued research and
can be programmed for any work as you need. technological advancement, this trend is expected to
continue and bring further benefits to a range of industries.
IV. TORQUE CALCULATION
ACKNOWLEDGEMENTS
 Let consider a weight 5KG that a servo motor wants to
pick up. We would like to express my sincere gratitude to my
research advisor, Dr. C.P. Singh, for his invaluable guidance
 The Force F = 5kg *9.80m/s2 and support throughout this project. I also want to
 F= 49 N acknowledge the contributions of Dr. Mudit Bansal for

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Volume 8, Issue 5, May – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
provided technical assistance and insightful feedback that
greatly improved the quality of this research. I want to
express my appreciation to my family and friends for their
unwavering support and encouragement.

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