Journal of Engineering Technology Vol.

9(1): 73-76, 2021

ISSN 2231-8798© 2021 UniKLBMI

The Development of Elementary Robot Arm

Using Educational Simulation Tool
Muhammad Hazwan Shaife1, Rohaida Hussain1
Section of Electrical Technology
1

Renewable Energy Research Laboratory (RENERAL)

Electrical Technology Section
British Malaysian Institute
Universiti Kuala Lumpur
53100, Gombak, Selangor

Corresponding email: [email protected]

Abstract: Robotic system has become one of the vital techniques in various fields, from technical to non-
technical. A robotic system can help to speed up the process of operation with minimal workforce involvement.
As such, it is beneficial in reducing operational and maintenance costs that include labour and are time-
consuming. The work is developed with the vision to the ensemble with the chemical dangerous substances
industries capable of reducing the exposure of the manpower to the chemical danger. The initiative is to prevent
accidents that can be harmful or poisonous when in contact with any human parts. The simulation was done
using an education-based simulation tool, Arduino Uno, and the analysis shows that the performance of the
robot arm achieved the minimum educational requirement.

Keywords: Robot arm, Arduino, flex sensor, MPU6050, degree of freedom, robotic

1.0 INTRODUCTION the load control that was not limited to

only a single axis or a zero commanded
Advanced robotics technology is one of the leading loads [3].
growing technologies in worldwide industries. It is ready to
evolve into much more efficient industrial operations. Cylindrical Have a minimum of one rotary joint at the
Compared with a standard robot, advanced robots are built bottom of the robot to perform a rotational
with greater perception, mobility, adaptability, and movement.
integrality. There are various types of robotic parts that have
been invented to ease and speed up a process. One of the most Polar Combined both linear joint and two rotary
common robots that are being used today is the robot arms. joints with an arm attached to a robotic
base and a twisting joint.
Industrial robots have six main types that can be found
in industries nowadays. They are polar, cartesian, cylindrical, SCARA Stands for Selective Compliance
delta, SCARA, and vertically articulated. Articulated Robot Arm. Consists of two
Table 1 Types of industrial robots arms that is joined at the base and the
intersection of arms one and two [6]. The
Types Description SCARA robot's arm was inflexible in the
Z-axis and pliable in the X and Y-axes,
Articulated Also called as a joint mechanical arm or which allowed it to adapt to holes in the
joint robotic arm [1].Requires a larger XY-axes [7].
relative space and an absolute workspace
than other robot under the same condition Delta A kind of parallel robot consisting of three
of the similar size [2]. arms linked to the universal joints at the
base of the robot itself. The use of
Cartesian The Cartesian is based on a simplified parallelograms in the arms to maintain the
control application system that can be orientation of the end effector, by contrast
demonstrated by the strong position and

73
Journal of Engineering Technology Vol. 9(1): 73-76, 2021
ISSN 2231-8798© 2021 UniKLBMI

to Stewarts platform that can change the Servo To control the movements of the
orientation of its end-effector [8]. motors handling parts of the robot arm
Arduino To interpret the coding and sends a
UNO signal to the servo motors
2.0 OBJECTIVES LM2956 To step down the voltage that enters the
motor to avoid overload
The work is developed to meet the minimum requirement of
chemical substance industries which would require strict
safety protocol. The safety precaution is one of the industry 4.0 FINDINGS AND OBSERVATIONS
playmakers’ main concerns. Thus, the elementary robot arm
has a potential to alleviate the company loads. Note that the 4.1 Development of 4 DOF robot arm
robot arm is developed in small scale. Though, it is believed Figure 2 shows the prototype of robot arm. The development
that is has great potential to contribute to the industries and processes are shown in Figure 2(a), (b), (c) and (d).
society.
The objectives of the paper are specified into 3 parts.
i.To develop a 4 degree of freedom (DOF) robotic arm.
ii.To develop a low voltage operated robot arm.
iii.To construct a small-scale robot arm.

4 DOF robotic arm is common in robotic design with 3

basic cartesian axes, X, Y and Z. The position control takes
this axes into account plus its individual angle. This robot
arm focused on the forward and reversed, up and down and
left and right movement. In general, DOF can be expressed
from Equation (1) .

𝐷𝐷𝐷𝐷𝐷𝐷 = 𝑚𝑚(𝑁𝑁 − 1 − 𝐽𝐽) + ∑𝐽𝐽𝑖𝑖=1 𝑓𝑓𝑖𝑖 (1)

Where 𝑁𝑁 is the number of bodies including ground, 𝐽𝐽 is

the number of joints, 𝑚𝑚 the rigid body and 𝑓𝑓𝑖𝑖 is the joint
constraints.

3.0 METHODOLOGY
The elementary robot arm is developed using 2 types of
sensors. It is programmed using Arduino Uno as the base of
the robot arm. The method of the process is depicted in
flowchart as shown in Figure 1. The components applied in
this paper is tabulated in Table 2.
Figure 1 shows the flowchart of the robot arm
development. The motion of the robot arm is controlled by
MPU5050 and the flex sensor. The system will function
when it is turned on. There are 4 servo motors applied in the
system where 3 servo motors are controlled by MPU6050 and
1 which is named servo 4 is controlled by the flex sensor. The
list and functions of the components are detailed up in Table
2.
Table 2 Components and functions
Component Functions Figure 1 Flowchart of robot arm development
MPU6050 To control the movements of back and
forth, up and down, left and right.
Flex sensor Connected to the servo motor that acts The prototype in Figure 2(a) shows the position of the
as the gripper of the robotic arm components on the robot arm. The white cup below the robot

74
Journal of Engineering Technology Vol. 9(1): 73-76, 2021
ISSN 2231-8798© 2021 UniKLBMI

arm is used to elevate the robot arm to prevent the collision to the right and the robot arm will also move with the same
with the ground, which might have cause damage to the robot direction to the sensor.
arm itself.
Table 3 and Table 4 show the position of the servo
motors. 3 servos were assigned for the position control, servo
1, servo 2 and servo 4. Servo 3 was designated to the flex
sensor as shown in Figure 1.

4.2 Development of low voltage operated robot arm

The robot arm is developed using Arduino simulation
(a) software. It is an educational level based simulation tool. It
(b) operates with low voltage supplies, 5V. It is functioned as
programmed and show significant results where the
command for both sensors, MPU6050 and flex sensor
worked well.
Table 5 showed the output voltage measurement from
the servo motor. 4 servo motors were positioned in the circuit
construction. As mentioned earlier, the supply voltage is 5V
(c) (d) and results showed significant results where the servo motors
operated within 5V range.
Figure 2 Robot arm prototype development

Table 5 Servo motor voltage measurement

Table 3 X Axis forward/reverse (F/R) and up/down (U/D) results
Movement Measured voltage (V)
Angle Range Position
Servo motor 1 3.8
Servo 1 0 60 0 90 0<X<=60 F/R
Servo motor 2 3.9
Servo 2 360 250 0 190 300<X<360 U/D
Servo motor 3 4.1
Servo motor 4 4.0
Table 4 Y Axis Left/Right (L/R) results
Angle Position
4.3 The construction of small-scale robot arm
Servo 4 0 60 90 180 L
Servo 2 360 300 90 0 R The robot arm is developed in small scale approach suitable
with the educational basis level with limited access of
technical tools. This suggested that it is feasible for low level
Figure 2(b) shows where the MPU6050 is attached teaching and learning purposes. It can be improved for a more
to the glove. The movement of the robot arm depends on complex development for commercial or industrial drives.
which angle the MPU6050 is tilt. If the device is tilted on -
90 degree the robot arm will turn to the left and if the device
is tilted 90 degrees, the robot arm will turn right. Moving 5.0 DISCUSSIONS
hand upward will cause the robot arm to move forward and
The results show the efficiency of the MPU6050 and
by moving hand downwards, the robot arm will move
other the components in the robot arm. Arduino Uno is the
backwards and slightly down.
main processor of the robot arm and the sensors, the
Figure 2(c) shows when the robot arm is being turned on MPU6050, and flex sensor controlled the motor efficiently to
and is on a default state. Figure 2(d) shows the placement of verify the robot arm functioned as it was programmed.
the flex sensor. From the observation, when is flex sensor is
The robot arm moved as instructed in the program where
being bent, the gripper begins to clamp shut and when the
it is able follow the instructions to move in lateral and vertical
sensor is at default state, the gripper will be opened. More
motion on the subjected plane. It is also successfully picked
tests were also made for left and right tilted position and
and placed an object on the designated position.
picking up object.
As such, the systems worked properly based on the
Observation also shows that the gripper is closed when
expected outcome. This is based on how each component
the flex sensor is being bent. The MPU6050 sensor is tilted
which is the MPU6050 sensor, Arduino Uno, flex sensor,

75
Journal of Engineering Technology Vol. 9(1): 73-76, 2021
ISSN 2231-8798© 2021 UniKLBMI

LM2596, and motors work as it functions although there are REFERENCES

some several improvement and upgrade that needs to be done [1] Anisur Rahman, M., Haque Khan, A., Ahmed, T., & Mohsin
to make it function even better. Sajjad, M. (2013). Design, Analysis and Implementation of
a Robotic Arm-The Animator. American Journal of
6.0 CONCLUSION Engineering Research (AJER), 02(10), 298–307.
As the conclusion, the prototype that was developed in www.ajer.org
this work achieved the objectives. Based on the results, the [2] Bhuyan, A. I., & Mallick, T. C. (2014). Gyro-accelerometer
based control of a robotic arm using AVR microcontroller.
robot arm successfully follow the command that was 2014 9th International Forum on Strategic Technology,
programmed to pick and place the object from point A to IFOST 2014, October 2014, 409–413.
point B. The movement achieved the 4 DOF movement https://doi.org/10.1109/IFOST.2014.6991151
objective and the system is programmed and test using low [3] Cai, Y., Zhan, Q., & Xi, X. (2012). Path tracking control of
power, 5V voltage supply and the presented outcome is the a spherical mobile robot. Mechanism and Machine Theory,
small scale robot arm system. 51, 58–73.
https://doi.org/10.1016/j.mechmachtheory.2011.12.009
The robot arm is developed using minimal technical [4] Dillmann, R. (2004). Teaching and learning of robot tasks
tools appropriate with the targeted educational level. via observation of human performance. Robotics and
However, the application has larger potential beyond Autonomous Systems, 47(2–3), 109–116.
education level. For example it can benefit the chemical https://doi.org/10.1016/j.robot.2004.03.005
substance industries in many ways. [5] Kelly, B. P., & Bennett, C. R. (2013). Design and validation
of a novel Cartesian biomechanical testing system with
Furthermore, to acquire a better performance for the coordinated 6DOF real-time load control: Application to the
future enhancement for this work, some modification and lumbar spine (L1-S, L4-L5). Journal of Biomechanics,
upgrading needs to be added to the robot arm. Two 46(11), 1948–1954.
recommendations are suggested to upgrade this work. First, https://doi.org/10.1016/j.jbiomech.2013.05.008
by adding more features to the robot arm such as adding a [6] Koetsier, T. (2019). The Ascent of GIM, the Global
Intelligent Machine (Vol. 36, Issue ii).
wireless connection that can control the arm from a moderate
http://link.springer.com/10.1007/978-3-319-96547-5
distance. With this feature, user will not have to handle the [7] McClintock, H., Temel, F. Z., Doshi, N., Koh, J. S., &
messiness of the wire and is easier to control without any Wood, R. J. (2018). The milliDelta: A high-bandwidth,
interruptions. Using a Bluetooth or RF is some of the option high-precision, millimeter-scale Delta robot. Science
to make it go wireless. Second, to add a camera to the above Robotics, 3(14).
of the gripper on the robot arm. With the camera attached to https://doi.org/10.1126/scirobotics.aar3018
the robot arm, it will make it easier to control the arm because [8] Mishra, P., Patel, R., Upadhyaya, T., & Desai, A. (n.d.).
the user will be able to watch what is in front of the robot Development of Robotic Arm Using.
arm. Using the robot arm from long or far distance will not
be a problem since the user can watch it on the monitor.

76