Mini Project Report Reference

VISVESVARAYA TECHNOLOGICAL UNIVERSITY
BELAGAVI - 560018, KARNATAKA
MINI PROJECT REPORT ON

“INTEGRATED ROVER WITH ROBOTIC ARM”
Submitted in partial fulfillment of the requirements for the award of the
BACHELOR OF ENGINEERING
IN
ELECTRICAL AND ELECTRONICS ENGINEERING
Submitted By
1. JAGADISH REDDY S 1CD19EE011

2. MUKTHANANDA S 1CD19EE025
3. SAMUEL SUVARNARAJ 1CD19EE033
4. THEJASWINI P 1CD19EE040
Under the Guidance of

Madhushree R
Assistant Professor
Dept. of EEE
CAMBRIDGE INSTITUTE OF TECHNOLOGY

K.R. Puram, Bengaluru - 560 036
Department of Electrical and Electronics Engineering
2022-2023
CAMBRIDGE INSTITUTE OF TECHNOLOGY
K.R. Puram, Bengaluru – 560036
DEPARTMENT OF ELECTRICAL AND ELECTRONICS
ENGINEERING
CERTIFICATE
This is to Certify that Jagadish Reddy S (1CD19EE011), Mukthananda S

(1CD19EE025), Samuel Suvarnaraj Chettipalli (1CD19EE033), Thejaswini P
(1CD19EE040) are Bonafide students of Cambridge Institute of Technology, has
successfully completed Project entitled“INTEGRATED ROVER WITH ROBOTIC
ARM” in fulfillment of the requirements for VIII semester Bachelor of Engineering in
Electrical and electronics Engineering of Visvesvaraya Technological University,
Belagavi during academic year 2022-2023. It is certified that all Corrections /
Suggestions indicated for Internal Assessment have been incorporated in the report.
The Project report has beenapproved as it satisfies the academic requirements in
respect of the Project Work prescribed for the said semester.
----------------------- ----------------------------- --------------------------- ---------------------------
Project Guide Mini Project Coordinator Head of the Dept. Principal

Prof.Madhushree R Prof. V K Gupta Prof.Hema A Dr.G. Indumathi
Assistant Professor Assistant Professor Associate Professor CiTech
Dept. of EEE, CiTech Dept. of EEE.CiTech Dept. of EEE. CiTech
Name of the Examiners Signature
1.
2.
ACKNOWLEDGEMENT
We would like to place on record our deep sense of gratitude to Shri D K Mohan
babu, Chairman, Cambridge Group of Institutions, Bangalore for providing
excellent infrastructure and Academic Environment at CITECH without which this
work would not have been possible.
We are extremely thankful to Dr. Indumathi, Principal, CiTech., Bengaluru, for

providing us the academic ambience and everlasting motivation to carry out this
work and shaping our careers.
We express our sincere gratitude to Prof.Hema A, HOD, Dept. of Electrical and

Electronics Engineering, CITech., Bengaluru, for his stimulating guidance,
continuous encouragement, and motivation throughout the course of present work.
We also wish to extend our thanks to Mr. V K Gupta , Assistant Professor Dept.
of Electrical and Electronics Engineering, CITech., Bengaluru and Prof.
Madhushree Assistant Professor Dept. of Electrical and Electronics Engineering,
CITech., Bengaluru, for their expert guidance and constructive suggestions to
improve the quality of this work.
We would also like to thank all other teaching and technical staffs of Department
of Electrical and Electronics Engineering, who have directly or indirectly helped
us in the completion of this Project Work.
DECLARATION
We declare that this project thesis is our own work and has not submitted in any form
for any other degree or diploma at any university or institution of technical education.
Information derived from any published or unpublished work of others has been
acknowledged in the text and list of references has been given.
Name and Usn of the students Signature
1. Jagadish Reddy s (1CD19EE011)
2. Mukthananda s (1CD19EE025)
3. Samuel Suvarnaraj Chettipalli (1CD19EE033)
4. Thejaswini P (1CD19EE040)
ABSTRACT
In recent time, the technology is growing rapidly with increasing human needs and
expectations. The technological growth is achieved with the help of machines that are
designed and integrated in a way to meet current requirements. However, there are
various research fields for this but the robotics field especially the Robotic arms and
Rovers has really caught our attention.
Robotic arms work with the specified predefined command by the developer with a
particular degree of freedom which make it one of the important tools for engineering
applications. On other half Rovers too has its own significance in portability operation.
Space agencies like NASA, SPACE X and various space exploration

agencies/companies are using Rovers with robotic arm for planet and space
exploration. Rovers are the designed vehicle that travels on the ground or any other
hard surface. A robotic arm is a mechanical structure that can perform similar human
like function.
Proposed system serves as a combination of Rover with robotic arm on top of it which
is controlled by Wi-Fi using smart-phone. User use smart-phone as a remote to control
the operation of both Rover and robotic arm and perform task from a distance. Our
system tries to develop a cheap engineering solution with the use of wireless
technology and Internet with smart-phone application.
The thought process behind this project is to completely reduce the involvement of the
humans and dog squads involved during the search operations, locating the bomb and
safely the bomb at a safer location away from the localities
TABLE OF CONTENT
SL.NO TITLE PAGE NO

CHAPTER 1: INTRODUCTION
1.1 Overview 1
1.2 Problem statement 2
1.3 Objective of the project 3
1.4 Methodology 3
CHAPTER 2: Literature Survey
2.1 IEEE Paper-1 8
2.2 IEEE Paper-2 10
2.3 IEEE Paper-3 11
2.4 GSM module 11,12
CHAPTER 3: Project Description
3.1 Existing system 14
3.2 Proposed System 14
CHAPTER 4: ROBOTIC ARM
4.1 Introduction 16
4.2 Block diagram 16
4.3 Construction 17
4.4 Hardware of robotic arm 18
4.5 Working 18-22
4.6 Controlling 22-23
4.7 Advantage & disadvantages 24
4.8 Applications 24
CHAPTER 5: ROVER
5.1 Introduction 26
5.2 Hardware of rover 26
5.3 Working of rover 27
5.4 Components 27-30
5.5 Controlling of rover
CHAPTER 6: SIMULATION
6.1 Arduino code 33-35
6.2 Simulation results 36-37
CHAPTER 7: CONCULSION 39
REFERENCES
LIST OF FIGURES
FIG NO FIGURES PAGE NO
2.1.1 Block diagram of robotic arm 8
2.1.2 Block diagram of rover 9
4.2 Connection diagram of robotic arm 15
4.3 Robotic arm 16
Arduino uno 17
4.4.2.1
4.4.2.2 Bluetooth Module 18
4.4.2.3 Servo motor 19
4.4.2.4 DC-DC buck converter 20
4.4.2.5 Li-ion battery 20
4.6 Screenshot of robotic arm application 21
5.2 dimension of aluminum sheet 24

5.3 Circuit diagram of rover 25
Arduino uno 26
5.3.1.1
5.3.1.2 Bluetooth module 27
5.3.1.3 L293D shield 27
5.3.1.4 Geared DC motor 28
5.5.1 Screenshot of application 29
5.5.2 Robotic arm with rover 29
Shows the movement of the rover at 35
6.2
different points
CHAPTER 1
INTRODUCTION
INTEGRATED ROVER WITH ROBOTIC ARM
INTRODUCTION:
In this project we will build an integrated rover with automated programmable robotic arm. We shall
learn how to construct and control a 6-axis robot arm and rover motors via a control interface from a
computer, and write pre-determined instructions for it to follow and repeat. We will use geared DC
for the movement of Rover and Servo motors to drive the robotic arm and an Adriano mega as our
microcontroller that will control them while communicating with the PC via a USB cable.
Primary parts for this project will be:

 Geared DC motors x6
 6 DOV Aluminum Robot kit
 Arduino UNO
 2HC-05 Bluetooth module
 Metal Servo Disc 25T Horns for MG995 x6
 DMS15-270 or MG996R Servo motor X6
 2200mAh 11.1V Li-Polymer Battery
1.1 OVERVIEW
One of the key Usages of industrial Robotic arms with Rover is their versatility for supporting
multiple applications from the simplest to the most complex jobs in the safest or harshest
environments. Automating these types of tasks not only removes human workers from possibly
hazardous situations, but it enables those workers to take on high-value tasks such as interfacing with
customers.
 Welding:
Welding is a task that can be performed by robots in advanced industrial settings such as automotive
manufacturing. Given its critical impact on product quality, welding is an excellent candidate for
advanced robotics with vision and AI augmentation for online quality inspection.
 Inspection:
Performing quality inspection is typically completed at the end of a production line, which delays the
detection of production quality issues. By enhancing robots with vision and AI systems, businesses
can benefit from real-time inspection, helping to reduce waste and downtime.
 Pick and Place:
Pick-and-place robots are typically used in modern manufacturing and logistics. They are equipped
with advanced machine vision systems to identify an object, grasp it, and move it from one location
to another place quickly and efficiently.
DEPT OF.EEE.CiTech 2022-2023 2

1.2 Problem statement:

In wars or other military applications conventionally, humans are required to do various hazardous
operations like as handling explosives, diffuse them, and safely dispose them. These tasks contribute
majorly to fatalities. Thus, a “ROBOTIC ARM WITH ROVER” is built to replace humans in
dangerous situations.
In the existing system as it had many drawbacks here, we are coming up with an idea of iot technology
by using IOT based software. we are creating a platform where the team members can have access
through it and the vehicle can be controlled using the same smart phone and by adding 360-degree
view camera technology the threats can be clearly visualized and this live instance can be captured and
stored If in case need to be re monitored for investigation purposes.
Here by considering the above problem statement we came up with the idea of iot based module
vehicle which can be operated by the user from different location and can give a clear 360-degree view.
1.3 Objective of the Project:

The main purpose of this project is to be implemented in Army/defense so that the rover can
surveillance on non-monitoring area and threat can be predicted by knowing the live visualization of
the area or threat zone and it could impact in saving life’s of BSF or Army people.
 To design a rover with robotic arm to make day-to-day lives of humans a lot easier and simpler.
 To design an integrated rover with a Robotic arm to safely dispose the bomb/hazardous object
using WIFI model by controlling the movement of rover.
 To design Integrated rover with a Robotic arm with cameras to see the surroundings to detect the
bomb location with the help of metal detector.
 To reduce the involvement of human and dog squads in handling/diffusing completely to zero
percent, so that there will no case of causalities.

1.4 Methodology:
Mechanics:
 We started to researching about how we can involve to conventional energy source (sun) into picture
and how we can reduce the overall power consumption by each component connected on the rover,
without making any major changes in the design.
 Arduino UNO is a microcontroller board based on the ATmega328P. It has 14 digital input/output
pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB
connection, a power jack, an ICSP header and a reset button. It has a flash memory of 32 kb.
 Here we are utilizing 12V dc gear motors. It can produce high torque up to 680 N.
 6DOV DIY robot arm kits come with all relevant parts (aluminum bits, servo disc and servo motors)
included, while others don’t. In our Case, we ordered the kit and then realized it did not include the
motorsand the disks. So, I had to order them separately.
 However, the advantage of ordering the parts separately is the flexibility of choosing the motors that
will be used in the project. So, at this occasion we chose the DMS15-270 motor which has a wide
270- degree range rather than the more common MG996R that reachesup to only 120. So, we
eventually extended the flexibility and range of my robotic arm.
 Assembling the arm should be done carefully and can take an hour or two. Fasten the bolts tightly to
minimize dangling parts – but not too tight!
 While assembling the motors, pay attention to the side that motors 1, 2 and 3 are facing. Because it
will affect the direction to which the arm will move, so far as the spin of the motors is controlled by a
windows application stays constant. Also, if the 3-wire cable is not long enough to reach the ground
when the arm is fully stretched, you will have to cut the cable and add more wire to it. See the image
to get a clearer viewon how to place the motors.
Electrics:
 The circuit is fairly simple. No need for an engineering degree. Connect all of the servo motors to
power in parallel. Brown wire is (-) and red wire is (+). The control wires which are colored orange
or yellow go to the PWM pins of the Arduino.
 These are pins 3, 5, 6, 9, 10 and 11. I recommend using a shield compatible with all the I/O pins
that provides parallel power lines to which you can solder regular pins. This way it is easier to
connect the servomotors using their 3-pin female connectors. Powering up the system from a USB
cable is not enough. We will need an external power source.

 We are using DC-DC step down BUCK converter. We’ll need a module that is capable of
supplying 4A peak current. The XL4015 based circuits are very efficient as they lower the voltage
and raise the current to the load at a 90% efficient rate. we are going to use 2200mAh 11.1V Li-
Polymer Battery.
 We did not use voltage regulators for this this project requires voltage regulation at high currents,
because basic Zener voltage regulators like the LM7805 do not generate current gain and therefore
are very inefficient and will heat up quickly. Do not power up motors before uploading the software,
because you still need to calibrate them to their default positions.
 We want to build a programmable and controllable arm. For that we need an interface that shows all
the controls and can run pre-built commands. The best way to maintain this requirement is via
computer software. For this purpose, we developed a .NET framework windows application which is
available for download for free. It will communicate with the Arduino board via USB interface,
whereas the Arduino will serve as a bridge between the PC and the motors.

CHAPTER 2
LITERATURE SURVEY

CHAPTER 2
LITERATURE REVIEW
From ancient time human was curious toward building machine which performs similar function as
human do. Around 5th century BC the first trace of such machines as automatic puppets was found in
Greek and Indus valley civilization however it gets proper shape after industrial revolution as
mechanical boom provided sufficient development of robotic arm.
On the other side the small sized vehicle has its own importance due to its easy portability. However,
humans have used vehicle from ancient time but Rover is one of the small sized vehicles which has
utmost importance. Rovers gets its main importance after it was used for space exploration purpose in
1969 Lunokhod was first Rover sent to space by Soviet Union further in advancement Lunokhod 1,2
and 3 was launched Apollo lunar roving vehicle as series Apollo 15,16 and 17 from July.
After that worldwide nation involved in competition to launch mars landing Rover parallel to these
small vehicles are also used by various industry to generate new machines so, we are on the verge to
used such tools to create something advance. our paper is based on one such combined tool Rover with
robotics vehicle which can be used for various purposes and has fair chance of advancement in future.
[2.1] According to “IoT developed Wi-Fi Controlled Rover with Robotic Arm: –By Gaurav
Singh, Ashirwad Kumar Singh, Anurag Yadav, Indu Bhardwaj, Dr. Usha Chauhan.” [An IEEE
PUBLISHED PAPER].
 This paper solely focuses on development of a device by integrating above technology, Robotic
arm on top of Rover for picking and placing operation in hazardous environment.
 NodeMCU act as brain of the system and whole system is controlled using smart phone.
 User uses smart-phone as a remote to control the operation of both Rover and robotic arm and
perform task from a distance. Our system tries to develop an engineering solution with the use of
wireless technology and Internet with smart-phone application.
 we are on the verge to used such tools to create something advance. This paper is based on one
such combined tool Rover with robotics vehicle which can be used for various purposes and has
fair chance of advancement in future.
 The working of the system is kept simple as possible. Power source is DC supply which runs the
NodeMCU/ARDUINO and motors drivers. The NodeMCU/ARDUINO module receives the signal
from smart phone which acts as a remote. Smart-phone has Blynk app which helps to control the
motors of Rover and motors of arm.


 Smart phone is connected to NodeMCU/ARDUINO with the help of Wi-Fi using hot spot.
Our proposed project categories into three sections:

1. Input section
2. NodeMCU/ARDUINO
3. Output section
 Remote consist of smart phone and Blynk app. The Rover consists of SERVO motor driver,
NodeMCU. User can control the Rover with the help of remote within the range of 100m.
 Command or code is inserted into NodeMCU/ARDUINO with the help of USB data cable. These
command or code help to interface or communicate with smart-phone and motor driver.
Fig:2.1.1 Block diagram of robotic arm

Fig:2.1.2 Block diagram of rover
[2.2] According to the paper “Bomb disposal Robot: Discarding explosive through
wireless controlled method: Abdul Kadir Bin Motaleb, Mohammad Busayeed
Hoque Dept. of Electrical & Electronic Engineering International Islamic
University Chittagong (IIUC) Kumira, Chittagong, Bangladesh”. [ An
International published paper]
 Bomb disposal robot has been developed by different experts around the world to make an
affordable and safe device which will be useful for emergency rescue support.
 A 6 DOF articulated robotic arm mounted on a moveable base is been developed to help bomb
disposal squad to dispose bomb safely from distance.
 The whole operation of the robot can be performed wirelessly from a computer. DC servo motor
is used as actuator of the arm, and the servo is controlled by the PWM signal generated by
microcontroller.
 Disposing a bomb quite a challenging job to military & law enforcement agency worldwide and
that’s why bomb disposal robot demand will increase day by day.
 This prototype has few limitations in practical point of view, but improvement in design,
dexterity, DOF can enhance the chance to implement in real life application.

[2.3] According to the paper “Design and Implementation of Supervising Robot using
GSM: Prof Sv. vikratamath, Neha vernekar, Nivedita Patil, Priyanka Angadi,
Shruti Kulkarni.”
 GSM and GPRS based designs have developed another innovative and public utility product for
mass communication.
 This is a robot control device which controls the robot through messages received as SMS or
GPRS packets and also send acknowledgement of task.
 These devices are designed to remotely control the Robot from anywhere and anytime.
 The main aim of the work will be to design a SMS electronic robot control toolkit which can
replace thetraditional robot control devices.
 The GSM modem receives the SMS. The AT commands are serially transferred to the modem. In
return the modem transmits the stored message through the wireless link. The microcontroller
validates the SMS and then perform specific task on the device.
 So, what is GSM actually?
o GSM is a Global System for Mobile communication. GSM is an international digital cellular
telecommunication.
o The GSM standard was released by European Telecommunication Standard (ETSI) back in 1989.
o The first commercial services were launched in 1991 and after its early introduction in Europe
the standard went global in 1992. Since then, GSM has become the most widely adopted and
fastest-growing digital cellular standard, and it is positioned to become the world's dominant
cellular standard.
 The GSM network architecture as defined in the GSM specifications can be grouped into four
main areas:
 Mobile station (MS)
 Base-Station Subsystem (BSS)
 Network and Switching Subsystem (NSS)
 Operation and Support Subsystem (OSS)

 Mobile Station (MS):
Mobile stations (MS), mobile equipment (ME) or as they are most widely known as cell or mobile
phones are the section of GSM cellular network that the user sees and operates. In recent years
their size has fallen dramatically while the level of functionality has greatly increased.
 Bast Station Subsystem (BSS):
The Base Station Subsystem (BSS) is the section of GSM network architecture that is
fundamentally associated with communicating with the mobiles on the network.
 Network Switching Subsystem (NSS):
The GSM system architecture contains a variety of different elements, and is often termed the
core network. It provides the main control and interfacing for the wholemobile network.
 Operation and Support Subsystem (OSS)
The OSS or operation support subsystem is an element within the overall GSM network architecture that
is connected to components of the NSS and the BSC. It is used to control and monitor the overall GSM
network and it is also used to control the traffic load of the BSS.

CHAPTER 3
PROJECT DESCRIPTION

3.1 EXISTING SYSTEM:

In the current technology the vehicle is operated by using Bluetooth or Wi-Fi module and joystick was
used to control and the range was approximately 300m around. Cameras weren't able to give 360-degree
view and the vehicle was only operated by one person in a group.
The ROVER WITH ROBOTIC ARM is not a surveillance. Robot the existing model has to be controlled
by only one device and the range of the device is also less. The camera fixed on the rover fixed in the
vehicle to provide the live instances and we have a platform for camera to watch the live instances the
camera consists of SD card which is used to store the data capture and in the same platform the camera
rotational and adjustment mechanisms are obtained as per the visualization we need.
3.2 PROPOSED SYSTEM:

In the existing system as it had many drawbacks here, we are coming up with an idea of iot technology by
using iot based software.
we are creating a platform where the team members can have access through it and the vehicle can be
controlled using the same smart phone and buy adding 360-degree view camera technology the threats can
be predicated clearly and the live instances can be captured and stored If in case need to be re monitored.
The vehicle is controlled by WI-FI/Bluetooth module.
The user can control the vehicle through the smart phone or devices. The 360-degree web-cam used to
control the vehicle. The user can easily control the vehicles by showing the live video.
The vehicle starts performing operation a 360° camera is connected and it is fixed in the vehicle to provide
the live instances and we have a platform for camera to watch the live instances the camera consists of SD
card which is used to store the data capture and in the same platform the camera rotational and adjustment
mechanisms are obtained as per the visualization we need.
Using these two platforms we can obtain surveillance and the vehicle can be controlled by the user at a for
location with the help of iot technology.

CHAPTER 4
ROBOTIC ARM

ROBOTIC ARM
4.1 Introduction about Robotic Arm:

Automation is one of the leading development fields mainly because it advances the industry further
than ever before, providing the potential of almost fully automated production lines. Automation is
stated to be the 3rd phase of the industrial revolution. A remarkable technological advancement that
pushes mankind up a step in the ladder of industry tech. It makes products cheaper to produce and at
larger quantities making the technology worthwhile to invest in. Since the beginning of the industrial
revolution mechanical engineers developed machines to ease on the workforce.
4.2 BLOCK DIAGRAM
Fig 4.2 Connection diagram of robotic arm

4.3 CONSTRUCTION
We will use servo motors to drive the parts and an Arduino UNO as our microcontroller that will control
them while communicating with the smartphone using software application.
Fig 4.3 Robotic arm
Primary parts for this project will be:
 6DOV Aluminum Robot kit
 Metal Servo Disc 25T Horns for MG995 x6
 MG996R Servo motor X5
 Energy circuit (XL4015 DC-DC BUCK Converter)
 Arduino UNO
 Arduino UNO shield(L293)
 9-20V at 2A power source
Programming languages used in this project:
 C (Arduino IDE)

4.4 Hardware of Robotic Arm:

4.4.1. Mechanics:
Some 6DOV DIY robot arm kits come with all relevant parts (aluminum bits, servo disc and servo
motors).
We chose the MG996R which as DOF of 180. So that we can eventually extended the flexibility and
range of the robotic arm.
Assembling the arm should be done carefully and can take an hour or two. Fasten the bolts tightly to
minimize dangling parts – but not too tight!
While assembling the motors, paying attention to the side that motors 1, 2 and 3 are facing. Because it
will affect the direction to which the arm will move, so far as the spin of the motors is controlled by a
windows application stays constant. Also, if the 3-wire cable is not long enough to reach the ground
when the arm is fully stretched, you will have to cut the cable and add more wire to it.
When assembled, install the arm on the fixed foundation. Because when it will move it will have a high
impulse so, to avoid falling upside-down the arm has to be fixed to a stable platform to support it.
4.4.2. Components
4.4.2.1 Arduino uno
Arduino UNO is a microcontroller board based on the ATmega328P. It has 14 digital input/output pins
(of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB
connection, a power jack, an ICSP header and a reset button. It contains everything needed to support
the microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC
adapter or battery to get started. The ATmega328P also features 1kb of EEPROM, a memory which is
not erased when powered off. The Arduino UNO features a barrel plug connector, that works great with
a standard 9V battery.
Fig 4.4.2.1 Arduino uno

4.4.2.2 Bluetooth module (HC-05)

HC-05 is a Bluetooth module which is designed for wireless communication. This module can be used
in a master or slave configuration. It has range up to <100m which depends upon transmitter and
receiver, atmosphere, geographic & urban conditions. HC-05 has red LED which indicates connection
status, whether the Bluetooth is connected or not. Before connecting to HC-05 module this red LED
blinks continuously in a periodic manner. When it gets connected to any other Bluetooth device, its
blinking slows down to two seconds.This module works on 3.3V. We can connect 5V supply voltage as
well since the module has on board 5 to 3.3 V regulator. As HC-05 Bluetooth module has 3.3V level for
RX/TX and microcontroller can detect 3.3 V level, so, no need to shift transmit level of HC-05 module.
But we need to shift the transmit voltage level from microcontroller to RX of HC-05 module. The data
transfer rate of HC-05 module can vary up to 1Mbps is in the range of 10 meters.
Fig 4.4.2.2: Bluetooth module

Bluetooth serial modules allow all serial enabled devices to communicate with each other using
Bluetooth. It has 6 pins,
Key/EN: It is used to bring Bluetooth module in AT commands mode. If Key/EN pin is set to high, then
this module will work in command mode. Otherwise by default it is in data mode. The default baud rate
of HC-05 in command mode is 38400bps and 9600 in data mode.
HC-05 module has two modes
 Data mode: Exchange of data between devices.

 Command mode: It uses AT commands which are used to change setting of HC-05. To send these
commands to module serial (USART) port is used.2. VCC: Connect 5 V or 3.3 V to this Pin.
 GND: Ground Pin of module.
 TXD: Transmit Serial data (wirelessly received data by Bluetooth module transmitted out serially
on TXD pin)
 RXD: Receive data serially (received data will be transmitted wirelessly by Bluetooth module).
 State: It tells whether module is connected or not.

4.4.2.3 MG996R Servo motor

The MG996R is a metal gear servo motor with a maximum stall torque of 11 kg/cm. Like other RC
servos the motor rotates from 0 to 180 degree based on the duty cycle of the PWM wave supplied to its
signal pin.
Wire Wire Description

Number Colour
1 Brown Ground wire connected to the ground of system
2 Red Powers the motor typically +5V is used
3 Orange PWM signal is given in through this wire to drive the

motor
It as an operating Voltage of +5V typically and current of 2.5A (6V) and the stall torque is 9.4 kg/cm (at
4.8V), it as maximum stall torque: 11 kg/cm (6V), it as operating speed is 0.17 s/60°.
Fig 4.4.2.3: servo motor

4.4.2.4 DC-DC Buck converter:

The regulators are monolithic integrated circuits that provide all the active functions for a step-down
(buck) switching regulator, capable of driving a 3A load with excellent line and load regulation. The
out is adjusted between 1.5V -35V.It as external shutdown is included, featuring typically 30 μA
standby current.
Fig 4.4.2.4: DC-DC buck converter
4.4.2.5. Lithium-ion battery

A lithium-ion battery or Li-ion battery (abbreviated as LIB) is a type of rechargeable battery. Lithium-ion
batteries are commonly used for portable electronics and electric vehicles. The batteries have a high energy
density, no memory effect (other than LFP cells), and low self-discharge. We are using a series connected 2
X 3.7V,2500mAh battery.
Fig 4.4.2.5:li-ion battery
4.5 WORKING OF ROBOTIC ARM:

The circuit is simple. Connect all of the servo motors to power in parallel. Brown wire is (-) and red wire is
(+). The control wires which are colored orange or yellow go to the PWM pins of the Arduino. These are
pins 7,8,9,10,11and 12. It is recommended using a shield compatible with all the I/O pins that provides
parallel power lines to which you can solder regular pins. This way it is easier to connect the servos using

their 3-pin female connectors.

Connect Txd and Rxd of Bluetooth module to 0,1 pins of Arduino, so that data transfer is going to take
place. Connect Gnd and Vcc pins of Bluetooth module to Gnd and 5V pins Arduino. For powering up the
system we’ll need an external power source. We are using a 12V lithium battery connected to a DC-DC
step down BUCK converter. We’ll need a module that is capable of supplying 4A peak current. The
XL4015 based circuits are very efficient as they lower the voltage and raise the current to the load at a
90% efficient rate.
Set the output voltage to 5.1V. Measure the voltage with a DMM if the board does not have
an on-built display.
Do should not use voltage regulators for in this sake or in any project that requires voltage regulation at
high currents, because basic zener voltage regulators like the LM7805 do not generate current gain and
therefore are very inefficient and will heat up quickly thereby damaging the arm. Release the 4 screws that
are holding the servo disks of all motors. After uploading the code to the Arduino UNO board, you can
connect the motors using an android app through Bluetooth interface.
4.6 Controlling
An android app named “Arm Robot” is used to control the robotic arm.
Fig 4.6: screenshot of robotic arm app

There are 5 buttons to control the 5 servo motors and the rotation of the motors is restricted (can be
changed in program).

4.7 ADVANTAGES AND DISADVANTAGES:

Advantages:
1. it is suitable in the rescue and recovery missions.
2. It can travel between the way-points without the human navigation assistance.
Disadvantages:
1. One of the most popular errors with the Robotic arm with rover is the lagging between operator and
the rover, during this time the Rover can move too far to the left, basically out of control.
2. Bandwidth always be the problem with the wireless solutions and even some wired solutions, causing
for the slow reaction time for the controller to the actual robotic arm with rover bandwidth will remain
an issue because it is shared with many other robotic arms.
4.8 APPLICATIONS:
The robotic arm with rovers is used for a wide range of civilian applications such as urban search and
rescue, firefighting, nuclear plant operations and agricultural spraying and harvesting

CHAPTER 5
ROVER

ROVER
5.1 Introduction about Rover

A rover is a type of vehicle that is designed to explore remote or difficult-to-access areas, such as other
planets, moons, or rugged terrains on Earth. Rovers are typically unmanned and operated remotely by a
team of scientists and engineers on Earth.Rovers are equipped with a variety of scientific instruments, such
as cameras, spectrometers, and drills, that allow them to gather data and samples from the environments
they explore. This data can then be transmitted back to Earth for analysis by scientists. One of the most
well- known rovers is the Mars rover, which has been exploring the surface of Mars since the late 1990s.
These rovers have been able to provide valuable insights into the geology and atmosphere of the Red
Planet, as well as search for signs of past or present life. Rovers come in a variety of shapes and sizes,
depending on the specific mission they are designed for. Some rovers are small and lightweight, while
others are larger and more complex, capable of performing more sophisticated tasks. Overall, rovers are an
important tool for scientific exploration and discovery, allowing us to study and understand the universe
beyond our planet.
5.2 HARDWARE OF ROVER

When it comes to hardware of rover, it consists of base dimensions of the base, material used and how it is
fixed.
The base of the rover is done using an aluminium sheet with dimensions of 254mm x 381mm,it as
thickness of 2.5mm, two sheets of this dimension are taken so that it is used as both base and the upper
sheet where robotic arm is mounted.
Fig 5.2: dimension of aluminium sheet
There is separation gap of 60mm between the base and upper sheet. The separation is supported by 4
aluminium rods of length 60mm using bolts. Robotic arm is mounted at the end of the rover’s upper sheet
and all other components which include battery, microcontroller board, robotic arm circuit is fitted at
another end of the rover so that it gives counter weight for the robotic arm.15V solar panel is used as power
backup,
it is connected to DC buck converter and out voltage is reduced from 15v to 6 v so that direct power can be
utilized for the movement and for the charging the batteries.
5.3 WORKING OF ROVER:
Fig 5.3: circuit diagram of rover

5.3.1 Components
5.3.1.1 Arduino uno
Arduino UNO is a microcontroller board based on the ATmega328P. It has 14 digital input/output pins (of
which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB connection, a
power jack, an ICSP header and a reset button. It contains everything needed to support the
microcontroller; simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter or
battery to get started. The ATmega328P also features 1kb of EEPROM, a memory which is not erased
when powered off. The Arduino UNO features a barrel plug connector, that works great with a standard 9V
battery.

Fig 5.3.1.1: Arduino uno

5.3.1.2 Bluetooth module (HC-05)

HC-05 is a Bluetooth module which is designed for wireless communication. This module can be used in a
master or slave configuration. It has range up to <100m which depends upon transmitter and receiver,
atmosphere, geographic & urban conditions. HC-05 has red LED which indicates connection status,
whether the Bluetooth is connected or not. Before connecting to HC-05 module this red LED blinks
continuously in a periodic manner. When it gets connected to any other Bluetooth device, its blinking slows
down to two seconds.This module works on 3.3V. We can connect 5V supply voltage as well since the
module has on board 5 to 3.3 V regulator. As HC-05 Bluetooth module has 3.3V level for RX/TX and
microcontroller can detect 3.3 V level, so, no need to shift transmit level of HC-05 module. But we need to
shift the transmit voltage level from microcontroller to RX of HC-05 module. The data transfer rate of HC-
05 module can vary up to 1Mbps is in the range of 10 meters.
Fig 5.3.1.2: Bluetooth module

Bluetooth serial modules allow all serial enabled devices to communicate with each other using Bluetooth.
It has 6 pins,
Key/EN: It is used to bring Bluetooth module in AT commands mode. If Key/EN pin is set to high, then
this module will work in command mode. Otherwise by default it is in data mode. The default baud rate of
HC- 05 in command mode is 38400bps and 9600 in data mode.
HC-05 module has two modes,
 Data mode: Exchange of data between devices.
 Command mode: It uses AT commands which are used to change setting of HC-05. To
send these commands to module serial (USART) port is used.2. VCC: Connect 5 V or
3.3 V to this Pin.
 GND: Ground Pin of module.
 TXD: Transmit Serial data (wirelessly received data by Bluetooth module transmitted out
serially on TXD pin)
 RXD: Receive data serially (received data will be transmitted wirelessly by Bluetooth
module).
 State: It tells whether module is connected or not.

5.3.1.3 L293D motor shield

The L293D is quadruple high-current half-H drivers. It is designed to provide bidirectional drive currents
of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as
relays, solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in
positive- supply applications. All inputs are TTL compatible. Each output is a complete totem-pole drive
circuit, with a Darlington transistor sink and a pseudo- Darlington source. Drivers are enabled in pairs, with
drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN. When an enable input is high, the
associated drivers are enabled, and their outputs are active and in phase with their inputs. When the enable
input is low, those drivers are disabled, and their outputs are off and in the high-impedance state. With the
proper data inputs, each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or
motor applications.
Fig 5.3.1.3 L293D shield

5.3.1.4 Geared DC motor
DC Motor – 150RPM – 12Volts geared motors are generally a simple DC motor with a gearbox attached to
it. This can be used in all-terrain robots and variety of robotic applications. These motors have a 3 mm
threaded drill hole in the middle of the shaft thus making it simple to connect it to the wheels or any other
mechanical assembly.150 RPM 12V DC geared motors widely used for robotics applications. The most
popular L298N H-bridge module with onboard voltage regulator motor driver can be used with this motor
that has a voltage of between 5 and 35V DC or you can choose the most precise motor diver module from
the wide range available in our Motor divers’ category as per your specific requirements. Nut and threads
on the shaft to easily connect and internally threaded shaft for easily connecting it to the wheel. DC Geared
motors with robust metal gearbox for heavy-duty applications, available in the wide RPM range and ideally
suited for robotics and industrial applications. Very easy to use and available in standard size. Nut and
threads on the shaft to easily connect and internally threaded shaft for easily connecting it to the wheel.

Features
 RPM: 150.
 Operating Voltage: 12V DC
 Gearbox: Attached Plastic (spur)Gearbox
 Shaft diameter: 6mm with internal hole
 Torque: 2 kg-cm
 No-load current = 60 mA(Max)
 Load current = 300 mA (Max).
Fig 5.3.1.4 Geared DC motor
5.4 Connections and description

As we know there are 14 digital pins in Arduino, pin 0,1 indicates Rxd and Txd. The Txd and Rxd pins of
HC-05 is connected to 1,0 respectively through the L293D shield. Motor 1,2 and motor 4,5 are parallely
connected to A1, B 1 and A3, B3 port of L293D drive respectively. motor 3 ,6 is connected to A2, B2 and
A4, B4 ports of L293D drive respectively. Two lithium ion battery of rating 3.7V ,2500mAh are connected
in series and using DC-DC buck converter the supply is connected to L293D driver shield . the shield
equally distributes the power to the motors according to the command given.
Through the shield both Arduino and Bluetooth module are powered up.

5.5 Controlling
An android app named “Bluetooth RC Controller” is used to control the rover.
Fig 5.5.1 screenshot of the app
The up and down arrow mark button are used control the forward and backward movement of the rover ,
right and left arrow mark button are used to control the right and left movement of the rover. The app
supports the gyroscopic control.
Fig 5.5.2 Robotic arm with rover

CHAPTER 6
SIMULATION

6.1 : Arduino Code:

The Arduino code which is implemented to control robotic arm using GSM
module is as follows:
#include <SoftwareSerial.h>
SoftwareSerial GSM(22,24); // RX, TX pins of GSM module
int servo1Pin = 2; // PWM pin for servo 1
void setup() {
GSM.begin(9600); // Initialize GSM module communication
Serial.begin(9600); // Initialize serial communication
pinMode(servo1Pin, OUTPUT);
void loop() {
if (GSM.available()) { // Check if there is a new SMS message
String message = ""; // Initialize empty message string
while (GSM.available())
{ // Read the whole message
message += (char)GSM.read();
}
Serial.println(message); // Print the received message to serial monitor
processCommand(message); // Process the received command
}
}
void processCommand(String message)

{
if (message.indexOf("SERVO1") != -1)
{ // If the message contains "SERVO1"
int angle = message.substring(7).toInt(); // Extract the angle from the message
if (angle >= 0 && angle <= 180)
{ // Make sure the angle is within the valid range
int pulseWidth = map(angle, 0, 180, 500, 2500); // Convert angle to pulse width
analogWrite(servo1Pin, pulseWidth); // Send the pulse to servo 1
}
}
else if (message.indexOf("SERVO2") != -1)
if (angle >= 0 && angle <= 180)
}
}
else if (message.indexOf("SERVO3") != -1) { // If the message contains "SERVO3"
if (angle >= 0 && angle <= 180)
}
}
else if (message.indexOf("SERVO4") != -1) { // If the message contains "SERVO4"

if (angle >= 0 && angle <= 180)
int pulseWidth = map(angle, 0, 180, 500, 2500);

}
}
else if (message.indexOf("SERVO5") != -1)
if (angle >= 0 && angle <= 180)
}
}
}
By using the above code, we can control the robotic arm by sending message to GSM module. The GSM
module is consisting of sim card, the code helps to receive the message from the user. For example, if user
needs to move the servo 1, then the user need to send message as “SERVO1”to the sim in GSM Module.
Then the servo motor 1 change its angle or position.

6.2 Stimulation of determining position of Rover and robotic arm is shown below. For
all images BLUE circle indicates rover RED and GREEN line indicates the Robotic
arms.

Fig 6.2: Shows the movement of the rover at different points

CHAPTER 7
CONCULSION

CONCULSION
In conclusion, the integration of a robotic arm with a rover represents a significant advancement in
the field of defence. With this technology, researchers and scientists can perform intricate tasks and gather
valuable data from remote locations that were previously inaccessible. The robotic arm provides an
additional level of versatility and precision to the rover, enabling it to carry out tasks that were once
impossible. This technology has the potential to revolutionize space exploration and pave the way for new
discoveries and breakthroughs. As advancements in robotics and automation continue, we can expect to see
even more sophisticated and capable systems in the future. Overall, the integration of a robotic arm with a
rover is a major milestone in the exploration of space and represents a significant step forward in our
understanding of the universe.

References
1. Sahoo A, Dwivedy SK, Robi PS. Advancements in the field of autonomous underwater vehicle. Ocean
Eng 2019;181:145–60. https://doi.org/10.1016/j. oceaneng.2019.04.011.
2. Jung H, Subban CV, McTigue JD, Martinez JJ, Copping AE, Osorio J, et al. Extracting energy from
ocean thermal and salinity gradients to power unmanned underwater vehicles: state of the art, current
limitations, and future outlook. Renew Sustain Energy Rev 2022;160:112283.
3. Petillot YR, Antonelli G, Casalino G, Ferreira F. Underwater robots: from remotely operated vehicles
to intervention-autonomous underwater vehicles. IEEE Robot Autom Mag 2019;26:94–101.
https://doi.org/10.1109/MRA.2019.2908063.
4. Atyabi A, MahmoudZadeh S, Nefti-Meziani S. Current advancements on autonomous mission
planning and management systems: an AUV and UAV perspective. Annu Rev Control 2018;46:196–
215. https://doi.org/10.1016/j. arcontrol.2018.07.002.
5. As S, Dhongdi SC. Review of underwater mobile sensor network for ocean phenomena monitoring. J
Netw Comput Appl 2022;205:103418. https://doi.org/ 10.1016/j.jnca.2022.103418.
6. Paull L, Saeedi S, Seto M, Li H. AUV navigation and localization: a review. IEEE J Ocean Eng
2014;39:131–49. https://doi.org/10.1109/JOE.2013.2278891.
7. Di Ciaccio F, Troisi S. Monitoring marine environments with Autonomous Underwater Vehicles: a
bibliometric analysis. Results in Engin. 2021;9:100205. https://doi.org/10.1016/j.rineng.2021.100205.
8. Macreadie PI, McLean DL, Thomson PG, Partridge JC, Jones DOB, Gates AR, et al. Eyes in the sea:
unlocking the mysteries of the ocean using industrial, remotely operated vehicles (ROVs). Sci Total
Environ 2018;634:1077–91. https://doi.org/ 10.1016/j.scitotenv.2018.04.049.
9. Meinecke G, Ratmeyer V, Renken J. HYBRID-ROV - development of a new underwater vehicle for
high-risk areas. OCEANS’11 MTS/IEEE KONA; 2011. p. 1–6.
https://doi.org/10.23919/OCEANS.2011.6106913.
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component as part of the global ocean observing system. Methods in Oceanography 2016;17:50–82.
https://doi.org/10.1016/j. mio.2016.05.001.

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VISVESVARAYA TECHNOLOGICAL UNIVERSITY

BELAGAVI - 560018, KARNATAKA

MINI PROJECT REPORT ON

1. JAGADISH REDDY S 1CD19EE011

Under the Guidance of

CAMBRIDGE INSTITUTE OF TECHNOLOGY

This is to Certify that Jagadish Reddy S (1CD19EE011), Mukthananda S

----------------------- ----------------------------- --------------------------- ---------------------------

Project Guide Mini Project Coordinator Head of the Dept. Principal

Name of the Examiners Signature

We are extremely thankful to Dr. Indumathi, Principal, CiTech., Bengaluru, for

We express our sincere gratitude to Prof.Hema A, HOD, Dept. of Electrical and

Name and Usn of the students Signature

1. Jagadish Reddy s (1CD19EE011)

3. Samuel Suvarnaraj Chettipalli (1CD19EE033)

Space agencies like NASA, SPACE X and various space exploration

SL.NO TITLE PAGE NO

4.6 Screenshot of robotic arm application 21

5.2 dimension of aluminum sheet 24

Primary parts for this project will be:

 Metal Servo Disc 25T Horns for MG995 x6

 DMS15-270 or MG996R Servo motor X6

 2200mAh 11.1V Li-Polymer Battery

DEPT OF.EEE.CiTech 2022-2023 2

1.2 Problem statement:

1.3 Objective of the Project:

DEPT OF.EEE.CiTech 2022-2023 3

DEPT OF.EEE.CiTech 2022-2023 4

DEPT OF.EEE.CiTech 2022-2023 5

DEPT OF.EEE.CiTech 2022-2023 6

DEPT OF.EEE.CiTech 2022-2023 7

Our proposed project categories into three sections:

Fig:2.1.1 Block diagram of robotic arm

DEPT OF.EEE.CiTech 2022-2023 8

Fig:2.1.2 Block diagram of rover

DEPT OF.EEE.CiTech 2022-2023 9

 So, what is GSM actually?

 Mobile station (MS)

 Base-Station Subsystem (BSS)

 Network and Switching Subsystem (NSS)

 Operation and Support Subsystem (OSS)

DEPT OF.EEE.CiTech 2022-2023 10

 Mobile Station (MS):

 Bast Station Subsystem (BSS):

 Network Switching Subsystem (NSS):

 Operation and Support Subsystem (OSS)

DEPT OF.EEE.CiTech 2022-2023 11

DEPT OF.EEE.CiTech 2022-2023 12

3.1 EXISTING SYSTEM:

3.2 PROPOSED SYSTEM:

DEPT OF.EEE.CiTech 2022-2023 13

DEPT OF.EEE.CiTech 2022-2023 14

4.1 Introduction about Robotic Arm:

4.2 BLOCK DIAGRAM

Fig 4.2 Connection diagram of robotic arm

DEPT OF.EEE.CiTech 2022-2023 15

Fig 4.3 Robotic arm

Primary parts for this project will be:

 6DOV Aluminum Robot kit