How to make Bluetooth Controlled Robot arm-Robomart

This is a step wise and simple tutorial to make Bluetooth Controlled Robot arm.

Step 1: Requirements 

•2 USB to serial cables

•Battery

•Robot Arm

•Voltage regulator 

•Arduino board

•SSC-32

Step 2: Set up

Connect the Arduino and SSC-32 boards.. Also remember to set the baud rate to 9600.

Connect the servos onto the SSC-32 servo controller. Each servo represents a joint on the arduino robot arm. The servo configuration is like this

•Gripper Servo: HS-311 servo motor SSC-32 pin: 7

•Elbow joint Servo: DF15MG high torque SSC-32 pin: 20

•Base joint Servo: DF05BB high torque SSC-32 pin: 16

•Wrist (rotation) Servo: HS-311 servo motor SSC-32 pin: 4

•Shoulder joint Servo: DF15MG high torque SSC-32 pin: 19

•Wrist (y axis) Servo: DF05BB high torque SSC-32 pin: 15

You can use your own configuration. You do not have to connect the servos on the pins I have specified.

Connect the power supply. In this case i am powering both servo channels with a battery and the logic via USB. You can check powering options to see the different powering options you have.

In the end of this tutorial I am upload a sample code you can check it.

Step 3: Arduino arm code

void setup() //initializing serial communication baud rate

{

  Serial.begin(9600);

}

/* Procedures to be used in the Demo. 

   Move the object from the ground onto the platform.

*/

void homes()//returns to initial position

{

  Serial.println("#7 P1000 T500");

  delay(1000);

  Serial.println("#4 P1300 T500");

  delay(1000);

  Serial.println("#15 P2350 T500");

  delay(1000);

  Serial.println("#19 P1000 T500");

  delay(1000);

  Serial.println("#16 P500 T500");

  delay(1000); 

}

void foward()//moves the arm forward

{

  Serial.println("#20 P1200 T1000");

  delay(1000);

  Serial.println("#19 P1300 T1000");

  delay(1000);

  Serial.println("#15 P1800 T1000");

  delay(1000);

}

void back1()//moving the arm backwards 

{

  Serial.println("#19 P1000 T500"); 

  delay(1000);

  Serial.println("#15 P2350 T500");

  delay(1000);

}

void back2()//moving the arm backwards 

{

  Serial.println("#15 P2330 T500");

  delay(500);

  Serial.println("#16 P1500 #19 P1000 #20 P1200 T1000");

  delay(500);

}

void lift()//lifts the robot arm

{

 Serial.println("#16 P2400 #19 P1300 #20 P1700 T1000");

  delay(1000);

}

void grip()//Gripping the object

{

  Serial.println("#7 P1550 T500");

  delay(1000); 

}

void drop()//Drops the object

{

  Serial.println("#15 P1900 T500");//moves wrist servo to position 1900

  delay(1000);

  Serial.println("#7 P1000 T1000");

  delay(500); 

}

void turnC()//turns the arm clockwise

{

  Serial.println("#16 P500 T1000");

  delay(1000);

}

void turnA()//turns the arm anticlockwise

{

  Serial.println("#16 P2400 T1000");

  delay(1000);

}

void halfturn()//turns the arm clockwise

{

  Serial.println("#16 P1500 T1000");

  delay(1000);

}

void loop()

{  

    //Pick the object and place it on platform

    homes();

    delay(1000);

    foward();

    delay(1000);

    grip();

    delay(1000);

    back1();

    delay(1000);

    halfturn();

    delay(500);

    lift();

    delay(2000);

    drop();

    delay(1000);

    back2();

    delay(500);

}

After the wiring and uploading the code this project is successfully complete. Have fun with this project.