1.

Introduction
In the modern world, robotics has become popular, useful, and has achieved great
successes in several fields of humanity. Robotics has become very useful in medicine,
education, military, research and mostly, in the world of manufacturing. It is a term that has
since been used to refer to a machine that performs work to assist people or work that humans
find difficult or undesirable. Robots, which could be destructive or non-destructive, perform
tasks that would have been very tedious for human beings to perform. They are capable of
performing repetitive tasks more quickly, cheaply, and accurately than humans. Robotics
involves the integration of many different disciplines, among them kinematics, signal
analysis, information theory, artificial intelligence, and probability theory. These disciplines
when applied suitably, lead to the design of a very successful robot.

1.1 Embedded Design

The majority of computer systems in use today are embedded in other machinery, such
as automobiles, telephones, appliances, and peripherals for computer systems. These are
called embedded systems. While some embedded systems are very sophisticated, many have
minimal requirements for memory and program length, with no operating system, and low
software complexity. Typical input and output devices include switches, relays, solenoids,
LEDs, small or custom LCD displays, radio frequency devices, and sensors for data such as
temperature, humidity, light level etc. Embedded systems usually have no keyboard, screen,
disks, printers, or other recognizable I/O devices of a personal computer, and may lack human
interaction devices of any kind.
An embedded system can be defined as a control system or computer system designed
to perform a specific task. Common examples of embedded systems include MP3 players,
navigation systems on aircraft and intruder alarm systems. An embedded system can also be
defined as a single purpose computer.
Most embedded systems are time critical applications meaning that the embedded
system is working in an environment where timing is very important: the results of an
operation are only relevant if they take place in a specific time frame. An autopilot in an
aircraft is a time critical embedded system. If the autopilot detects that the plane for some
reason is going into a stall then it should take steps to correct this within milliseconds or there
would be catastrophic results
1

In general, an Embedded System Is a system built to perform its duty, completely or partially
independent of human intervention. It is specially designed to perform a few tasks in the most
efficient way. It Interacts with physical elements in our environment, viz. controlling and
driving a motor, sensing temperature, etc.

1.2 Robotics and Automation

Automation & Robotics are two closely related technologies. In an, industrial context, we
can define automation as Technology that is concern with the use of mechanical electronics &
computer based system in the operation & control of products.
There are three broad classes of Industrial Automation:1.2.1 Fixed Automation: If the volume of product is very high
1.2.2 Programmable Automation: If the volume of production is less &verity of products are
more.
1.2.3 Flexible Automation: It is a mixer of fixed & programmable.

1.3 Human hand

Human gestures are undoubtedly natural. They may often prove more efficient and
powerful as compared to various other modes of interaction. The gestures are communicative,
meaningful body motions- i.e. physical movement of the fingers, hands, arms, head, face, or
body with the objective to convey information or interact with the environment. In our work
gesture recognition has been proposed to understand the action of a hand.
To increase the use of robots where conditions are not certain such as firefighting or
rescue operation we can make robots which follows the instruction of human operator and
perform the task, in this way decisions are taken according to the working condition by the
operator and task is performed by the robots. Thus we can use these robots to perform those
tasks that may be harmful for human beings
The human hand represents the most dexterous part of the human body, both for its
complex mechanical structure and for the versatility of its possible activities. Further it is
deeply linked with the brain. Indeed, the communication between the hand and the brain is
bidirectional: the hand allows us to feel the surrounding Environment by touch, and
contributes to the mental processing of feeling. The neuroplasticity concept, at the basis of
neuroses habilitation, is based on this directionality: the brain re-learns the motor patterns
2

when the hand repeats predefined movements so that the hand re-learns how to move itself
thanks to the brain improvements. Within this sensor motor continuum, it is possible.

1.4 Robotic hand

The first robotic hand was developed in the 1950s by a scientist named George Devil,
Jr., before which robotics were largely the product of science fiction and the imagination. The
development of robotics was slow for a while, with many of the most useful applications
being involved with space exploration. The use of robots to aid in industrialization werent
fully realized until the 1980s, when robotic hand began to be integrated in automobile and
other manufacturing assembly lines.
A robotic hand can be any of a number of mechanical, programmable devices that are
designed to manipulate objects in a way that is similar to the human hand. The robotic hand is
one of the most useful pieces of technology to be introduced in the 20th century, and quickly
became a cornerstone in many areas of manufacturing. It can be used for many different jobs
and functions that may be too tedious, difficult or dangerous for a human to do. You might
first think of the automobile industry when thinking about robotic hand, but they can be used
for many other useful tasks besides welding and painting auto parts. Robot hand can still have
a much wider range of motion since their design can be purely up to the imagination of their
creator. The joint that connects the segments of a robotic hand, for example, can rotate as well
as moving like a hinge. The end of the robotic hand designed to actually do the work that it
was designed for is known as the end effectors, and can be designed for practically any task,
for example gripping like a hand, painting, tightening screws and more. These robots can be
fixed in one place, for example along an assembly line, or they can be mobile so they can be
transported to do a variety of tasks in different places.
Autonomous robotic hand are designed to be programmed and then left alone to repeat
their tasks independent of human control. Conversely, a robotic hand can also be designed to
be operated and controlled by a human being. A situation where human-controlled robotic
hand are essential is in space exploration, where robotic hand can be used to manipulate a
heavy payload or do other work in space that would be difficult or even impossible for an
astronaut to do.

The hand itself is only responsible for positioning. An end effecter is necessary for
actual environmental interaction. Some common choices are grippers, sprayers, grinders,
welders, and vacuums, though many other options are available. There is a large variance in
complexity, ranging from flush mounted, non-moving parts (magnets or sticky pads) to multijointed, multi-sensor parts with various inputs and outputs. End effectors are typically chosen
based upon the application, and many hands will fit multiple end effectors.

1.5 Constructions
1.5.1 Microcontroller
Arduino is an open source electronics prototyping platform based on flexible, easy to
use hardware and software. Its intended for artist, designers, hobbyists, and anyone interested
in creating interactive object or environment as shown in figure.

Fig. 1 : Arduino UNO R3

The Arduino can sense the environment by receiving input from a variety of sensor
and can affect its surroundings by controlling lights, motors, and other actuators. The
microcontroller on the board is programmed using the Arduino UNO programming language
4

(based on wiring) and the Arduino development environment (based on processing). Arduino
projects can be stand-alone or they can communicate with software running on a computer.
The board can be built by hand or purchased pre-assembled the software can be download for
free.

Following are the components of Arduino UNO R3

Microcontroller

ATmega328

Operating Voltage

5V

Input Voltage

7-12V

(recommended)
Input Voltage (limits)

6-20V

Digital I/O Pins

14 (of which 6 provide PWM output)

Analog Input Pins

DC Current per I/O Pin

40Ma

DC Current for 3.3V Pin

50Ma

Flash Memory

32 KB (ATmega328) of which 0.5 KB used by

SRAM

boot loader
2 KB (ATmega328)

EEPROM

1 KB (ATmega328)

Clock Speed

16 MHz

A) Input Communication
The Arduino Uno can be powered via the USB connection or with an external power
supply. The power source is selected automatically. External (non-USB) power can come
either from an AC-to-DC adapter battery. The adapter can be connected by plugging a 2.1mm
center-positive plug into the board's power jack. Leads from a battery can be inserted in the
Ground and VIN pin headers of the power connector.

B) Memory
The ATmega328 has 32 KB (with 0.5 KB used for the boot loader). It also has 2 KB of
SRAM and 1 KB of EEPROM (which can be read and written with the EEPROM library).

C) Input & Output

Each of the 14 digital pins on the Uno can be used as an input or output, using pin
mode(), digital Write, and digital Read () functions. They operate at 5 volts. Each pin can
provide or receive a maximum of 40mA and has an internal pull-up resistor (disconnected by
default) of 20-50 ohms. In addition, some pins have specialized functions:
Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These
pins are connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial chip.
External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a low
value, a rising or falling edge, or a change in value. See the attach Interrupt () function for
details.
PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analog Write () function.
SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication
using the SPI library.
LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value,
the LED is on, when the pin is LOW, it's off.
The Uno has 6 analog inputs, labeled A0 through A5, each of which provide 10 bits of
resolution (i.e. 1024 different values). By default they measure from ground to 5 volts, though
is it possible to change the upper end of their range using the AREF pin and the analog
Reference () function. Additionally, some pins have specialized functionality.
AREF . Reference voltage for the analog inputs. Used with ref ().Reset Bring this line LOW
to reset the microcontroller. Typically used to add a reset button to shield which block the one
on the board.

D) Output Communication
The Arduino Uno has a number of facilities for communicating with a computer, another
Arduino, or other microcontrollers. The ATmega328 provides UART TTL (5V) serial
communication, which is available on digital pins 0 (RX) and 1 (TX). An ATmega16U2 on
7

the board channels this serial communication over USB and appears as a virtual com port to
software on the computer. The '16U2 firmware uses the standard USB COM drivers, and no
external driver is needed. However, on Windows, a .inf file is required. The Arduino software
includes a serial monitor which allows simple textual data to be sent to and from the Arduino
board.

1.5.2 Servo Motors

Servo refers to an error sensing feedback control which is used to correct the
performance of a system. A servo motor consists of three major parts: a motor, control board,
and potentiometer (variable resistor) connected to output shaft. The motor utilizes a set of
gears to rotate the potentiometer and the output shaft at the same time. The potentiometer,
which controls the angle of the servo motor, allows the control circuitry to monitor the current
angle of the servo motor. The motor, through a series of gears, turns the output shaft and the
potentiometer simultaneously. The potentiometer is fed into the servo control circuit and when
the control circuit detects that the position is correct, it stops the servo motor. If the control
circuit detects that the angle is not correct, it will turn the servo motor in the right direction
until the angle is correct. Servo or RC Servo Motors are DC motors equipped with a servo
mechanism for precise control of angular position. The RC servo motors usually have a
rotation limit from 90 to 180. But servos do not rotate continually. Their rotation is
restricted in between the fixed angles. Servo motors are shown in fig. Servomotors have been
around for a long time and are utilized in many applications. They are small in size but pack a
big punch and are very energy-efficient. They are used in robotic arms and legs, sensor
scanners and in RC toys like RC helicopter shown in fig airplanes and cars as shown in fig.

Fig. 2 : Servo Motor

2. Literature Review
The history of the designing of robotic arm is very wide and considerable for
investigations have been conducted in the research and development to develop the new arms
which can be more nearer to the degree of freedom of human hand and its gestures. Many
researches were conducted in the field of robotic arm for increasing the efficiency. Various
papers were introduced for development of humanoid robots. Some of the literatures are listed
in development of robotic arms
I.A Kapanji, Physiology of joints, In this paper there are details about the different joints in
human body, From this paper the details of joints in human hand ,accordingly Human hand
has 21 degree of freedom which is still not achievable in robotics [9]
Andersen, P. K., Bjedov, G. &Scarbrough, Essential C: An Introduction for Scientists and
Engineers , In this paper there is basics of robots and prmitive types of robot, the paper is
useful for designing of basic structure for robotic arms[1]
Kenjo,Takashi, Stepping motors and their Microprocessor controller1984, In this paper
there are details about microprocessors and servo motors but the microprocessors and motors
mention in this paper are very primitive therefore only basics are useful[6]
Liang Y.D Introduction to Java programming, 2001,This book useful for the program
development of microcontroller in Java language, This book contains a detail about Java
language and codes[8]

3. Problem Definition
Human being gets tired after they work for some time continuously.
We perform our work as per our estimates and hence the work done is not completely
accurate.
A person can work only for 8-10 hours a day and requires at least one holiday per week. This
reduces the overall productivity.
Human beings have to be paid salary every month and also they require increment every 6 or
12 months.
Human beings require medical treatment from time to time as they fall ill and they have to be
provided leave with pay. This increases the expenses for a company.
Human beings retire after 55-60 years of age and have to be paid pension for the rest of their
life.
Human beings sometime have mistrust, misunderstanding with manager/boss and hence lead
to conflicts.

10

4. Objective
Objective is to make a device that can work in the same manner as humans do but with
greater efficiency and reduced cost of operation.
A device which can work in environment which might be harmful for humans.
To reduce the errors made by humans.
Efficient system.
Easy to install.

11

5. Methodology
Robotic arm
The important part of the robotic arm is its microprocessor chipset. First we design the
mechanical frame in which the other components are to be installed. Then according to the
requirement ,no of servo motors , gears, worm gears, etc.are determined. By taking above
parameters in consideration a suitable microprocessor chipset is selected.
The second important part of this project is its program, according to the required task to be
performed the coding is done in Java Programing language, as this language is supported by
the microprocessor
Once the program is flashed into microprocessor, the assembly of, mechanical frame, servo
motors, worm gears, gears etc is done.
For the development of a robotic arm, we have planned the the following steps:
1
2
3
4
5
6

Planning
Designing of mechanical frame
Selection of Microprocessor
Selection of suitable servo motors
Making of suitable program for exclusion of output
Assembly of different component

12

6.Conclusion

13

7. REFRENCES
[1] Andersen, P. K., Bjedov, G. &Scarbrough, M. G.,1995, Essential An Introduction for
Scientists and Engineers. Florida: Saunders College Publishing,
[2] Cormier, J. M,1985.Robotics Training Systems Concepts and Applications. First
Edition,. Buck Engineering Co. Inc.,
[3] John, C. J.1989, Introduction to Robotics: Mechanics and Control. Second Edition,
India:Pearson Education, Inc.
[4] Kuo, B. C. Golnaraghi Farid,2003, Automatic Control Systems. Eight Edition, John
Wiley & Sons, Inc.
[5] Kafrissen, Edward, Stephans, and Mark, Industrial Robots and Robotics.(Virginia: Reston
Publishing company, Inc., 1984)
[6] Kenjo, Takashi, Stepping Motors and their Microprocessor Controls Oxford University
Press, c1984. LC number: TK2785 .K4 1984 Vishay Semiconductor GmbH. TCST110.up to
TCST230.
[7] Lenarcic, j., Kinematics in The International Encyclopedia of Robotics. Wiley and
Sons, 1988
[8] Liang, Y. D.,2001 Introduction to Java Programming. 3rd Edition, New Jersey: Prentice
HallInc.
[9] I.A.Kapandji, 1987, Physiology of joints,
[10] Robotics Training Systems: Concepts and Applications First Edition, By the staff of Buck
Engineering. (USA: Buck Engineering Co. Inc., 1988)
14