Multi Tasking Robotic Arm With Locomotives

Abstract

The high rate of development of embedded systems and mobile robotics has necessitated the requirement of small, low-cost and multi-task robotic manipulators that can carry out various functions in a dynamic setting. This paper describes the design and construction of a 4-axis articulated robotic arm mounted on a locomotive platform which allows a multitasking mobile manipulation. It has five SG90 servo motors to articulate the arm and DC gear motors with stepper motor drivers to move around the platform. It has an Arduino Nano as the main controller, which performs PWM actuation and sensory input processing and allows it to operate wirelessly with an HC-06 Bluetooth module and an Android application. The ESP32-CAM module that provides real-time visual monitoring and ultrasonic distance detection through non-contact sensors is also integrated into the robot to improve the environment and safety of use. To make sure that there was stability in motion and repeatability, the design involved detailed mechanical modelling, forward kinematics and actuator characterization. Correct manipulation of objects, fluid locomotion and dependable wireless control is proven by experimental testing. The platform which has been developed shows great possibility of researches and educational applications in mobile manipulation, autonomous navigation, and human-robot interaction.