This project features a 6 Degrees of Freedom (DoF) programmable robotic arm designed to introduce foundational concepts in automation and control. Inspired by the biomechanics of a human arm, this robotic arm provides six independent axes of motion—three rotational (roll, pitch, yaw) and three translational—allowing the gripper end-effector to orient and position itself at any point in 3D space.
The six key segments of the robotic arm include:
- Base
- Shoulder
- Forearm
- Wrist Roll
- Wrist Pitch
- Gripper
This prototype model is manually controlled using three PS2 joystick modules, each responsible for two degrees of freedom, embedded in a handcrafted control unit.
The arm employs two types of servo motors—SG90 and MG995 (three each). While not high-torque, these motors are well-suited for lightweight manipulation tasks, making the setup ideal for testing, learning, and proof-of-concept applications.
At its core, the system uses an Arduino UNO R3 to process control signals via a polling algorithm. The algorithm maps joystick input linearly to joint movement and incorporates a deadzone to filter out accidental or sudden joystick releases, ensuring smoother and more stable operation.
A buck converter (LM2596) steps down the 11.1V input from the LiPo battery to 5V, matching the servo motor voltage requirements and ensuring safe operation.
- 3D Printed Parts for Links
- Pointed Edge Screws
- M4 Nut & Bolts
- SG90 Servo Motors - 180 Degree Rotation
- MG995 Servo Motors - 180 Degree Rotation
- Arduino UNO R3
- Lipo Battery - 2200mAh
- Buck Module LM2596 - 5V Step Down
- Joystick Module
- Jumper Wires
- Servo.h
- Arduino.h (Core Library)
(To be added as Schematic-Image)
- 🏭 Industrial Automation
- Assembly lines in automotive and electronics industries
- Welding, painting, and packaging
- 🏥 Medical Field
- Surgical robots for minimally invasive procedures
- Rehabilitation and physical therapy support
- Pharmaceutical handling and lab automation
- 📦 Warehouse & Logistics
- Sorting, picking, and placing items
- Loading/unloading packages
- Integration with automated storage systems
- Robotics Club, IIT Ropar
Role: Mentorship, Logistics Help, Guidance - Shlok Narayan Vaidya, B.Tech Artificial Intelligence & Data Engineering, IIT Ropar
Role: Embedded Programming, Control System Design - Kian Sparrow, B.Tech Engineering Physics, IIT Ropar
Role: Fabrication, Control System Design, Embedded Programming - Harshit Kalra, B.Tech Electrical Engineering, IIT Ropar
Role: Electronics, Embedded Programming, Fabrication - Amey Kemkar, B.Tech Mechanical Engineering, IIT Ropar
Role: CAD Designing