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How to Make Bluetooth Controlled Robotic Arm

How to Make Bluetooth Controlled Robotic Arm Andro Root Sourabh Kumar

AndroBot Part 2

How to Make Bluetooth Controlled Robotic Arm

Today i am here with another Project and its Tutorial and it is all about Bluetooth Controlled Robotic Arm and as i disused in the last post that i just completed a Rover (AndroBot) and it is having some basic with some advanced function.The AndroBot is a combination of two Robotics projects we have completed the first part which is Bluetooth Controlled Rover v2  and today i am going to explain every single step which i used to Make a Bluetooth Controlled Robotics Arm.

How to Make Bluetooth Controlled Robotic Arm Andro Root Sourabh Kumar

AndroBot is an Android Controlled Advanced Robot and it is a combination of Android Controlled Rover With Robotic Arm.So Lets start with its history: Idea and Inspiration
Almost Two Months ago i watched a movie" The Hurt Locked ",In it a rover is shown which is with the Bomb squad team and it works good but failed to complete its main task.And its design and functions inspired me.I am not a well experienced Robotics Project maker but i know that i can make a similar one ya it will be not of that quality,accuracy and costly but it can perform same tasks.
After many attempts,research and experiments i found all the possible and combination of things to make the similar robot.The Robot Will have all the basic functions our Android Controlled Robot v1 with some extra function in the rover and a Robotic arm will also be Attached on it.I have divided  Complete Project into Three Part which are as following 
  1. How To Make a Bluetooth Controlled Robot v2
  2. How to Make a Bluetooth Controlled Robotic Arm
  3. How To Make AndroBot (Rover with Robotic Arm)
and then without wasting more time i will take all the parts one by one and explain them and show you that how i made read the tutorial carefully and try to make the AndroBot v1.

How to Make an Android Controlled Robotic Arm

The Robotics arm will be able to catch and drop any small things.and rotates in 180 degree Right - Left angle other thing depends on the design.The Robotics Arm will be controlled through the Bluetooth and all its function will be controlled through the Atmega 328p-PU Micro-controller. We are using 4 Servo controller and all of the thing will be powered through any Powerbank or 9v battery.

So After All the Introduction about the plan and ideas lets talk about the Requirements.
Requirements To make Bluetooth Controlled Robotics arm:-
  • 1 x Arduino Uno Board
  • 1 x Bluetooth Module
  • 1 x Power Bank or 9v battery
  • 1 x Indication LED Any Color
  • 4 x 9g Micro Servo Motor with gears and clamps
  • 1 x Switch
Other Requirements:-
A strong base
Some chop stick or Scales or Metallic sticks.
A round strong but thin sheet.
Double side tape or super glu
Glu gun with stick
& an Android Smartphone

About the components:-

Arduino Uno :-

The Arduino Board is an awesome Board which is very helpful to make and build some cool Project.The Arduino Uno R3 uses an ATmega328p-pu instead of the 8U2 or 16U2 found on the Uno (or the FTDI found on previous generations). This allows for faster transfer rates and more memory. No drivers needed for Linux or Mac (inf file for Windows is needed and included in the Arduino IDE), and the ability to have the Uno show up as a keyboard, mouse, joystick, etc.The Uno R3 also adds SDA and SCL pins next to the AREF. In addition, there are two new pins placed near the RESET pin. One is the IOREF that allow the shields to adapt to the voltage provided from the board. The other is a not connected and is reserved for future purposes. The Uno R3 works with all existing shields but can adapt to new shields which use these additional pins.Arduino is an open-source physical computing platform based on a simple i/o board and a development environment that implements the Processing/Wiring language. Arduino can be used to develop stand-alone interactive objects or can be connected to software on your computer (e.g. Flash, Processing, Max MSP). The open-source IDE can be downloaded for free (currently for Mac OS X, Windows, and Linux).Note:The Arduino Uno R3 requires the Arduino 1.0 drivers folder in order to install properly on some computers.
    • ATmega328 microcontroller
    • Input voltage - 7-12V
    • 14 Digital I/O Pins (6 PWM outputs)
    • 6 Analog Inputs
    • 32k Flash Memory
    • 16Mhz Clock Speed

Bluetooth Module:-

HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed for transparent wireless serial connection setup.
Serial port Bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR Bluecore 04-External single chip Bluetooth system with CMOS technology and with AFH(Adaptive Frequency Hopping Feature).

Hardware Features

  • Typical -80dBm sensitivity
  • Up to +4dBm RF transmit power
  • Low Power 1.8V Operation ,1.8 to 3.6V I/O
  • PIO control
  • UART interface with programmable baud rate
  • With integrated antenna
  • With edge connector

9G Micro Servo 

Tiny and lightweight with high output power. Servo can rotate approximately 180 degrees (90 in each direction), and works just like the standard kinds but smaller. You can use any servo code, hardware or library to control these servos. Good for beginners who want to make stuff move without building a motor controller with feedback & gear box, especially since it will fit in small places. It comes with a 3 horns (arms) and hardware.
Stall torque: 1.8 kgf·cm.
Operating speed: 0.1 s/60 degree.
Operating voltage: 4.8 V (~5V)
Brown (Black) - GND
Red - VCC
Orange - PWM (Signal)
How to Make Bluetooth Controlled Robotic Arm Andro Root Sourabh Kumar
How to Make Bluetooth Controlled Robotic Arm Andro Root Sourabh Kumar
"Click here to view more pictures"
I am using My rover as a Platform/base and i have completed it,so i am posting some pictures of the plan and setup so it will be easy to make the similar arm and you don't have to think more about the design but you have to make the wires of servo longer by adding some wires.

Circuit Diagram:-

How to Make Bluetooth Controlled Robotic Arm Andro Root Sourabh Kumar

Circuit Assembly:-

Arduino Uno's   10 - Bluetooth Module TX
Arduino Uno's   11 - Bluetooth Module RX
Servo 1's Orange- Arduino Uno's 3
Servo 2's Orange- Arduino Uno's 5
Servo 3's Orange- Arduino Uno's 6
Servo 4's Orange- Arduino Uno's 9

Also Read:-
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Traffic Light System with Pedestrian Crossing lights
Arduino Code:-

Download the AndroBot_Arm.ino or Copy the following code
//AndroBot Arm by Sourabh Kumar @
Servo myservo1, myservo2, myservo3, myservo4;
int bluetoothTx = 10;
int bluetoothRx = 11;
SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
void setup()
void loop()
  if(bluetooth.available()>= 2 )
    unsigned int servopos =;
    unsigned int servopos1 =;
    unsigned int realservo = (servopos1 *256) + servopos;
    if (realservo >= 1000 && realservo       int servo1 = realservo;
      servo1 = map(servo1, 1000, 1180, 0, 180);
      Serial.println("Servo 1 ON");
    if (realservo >= 2000 && realservo       int servo2 = realservo;
      servo2 = map(servo2, 2000, 2180, 0, 180);
      Serial.println("Servo 2 ON");
    if (realservo >= 3000 && realservo       int servo3 = realservo;
      servo3 = map(servo3, 3000, 3180, 0, 180);
      Serial.println("Servo 3 ON");
    if (realservo >= 4000 && realservo       int servo4 = realservo;
      servo4 = map(servo4, 4000, 4180, 0, 180);
      Serial.println("Servo 4 ON");

Steps to Burn or Upload he code to the Arduino:

Steps are as following:-
  1. Download or copy the Code from the above section 
  2. Now start Your computer transfer the .ino file and open it with Arduino IDE.
  3. Connect the Arduino Board and computer with Connecting Cable.
  4. Select the Port and Board
  5. Compile and Burn the code by clicking on the Upload button which will be on the Top-Left Corner of the IDE.
So now Everything is completed and Our Robotics Arm is ready.And We just have to Power it UP by Switching It ON.

Android App- AndroBot_Arm to control 4 servo (Robotics Arm)

AndroBot_Arm by Sourabh Kumar(MIT app Inventor) 

How to Make Bluetooth Controlled Robotic Arm Andro Root Sourabh Kumar
I have Developed an app "AndroBot_Arm" for android smartphone with the help of MIT app Inventor,and it is able to make connection with the arm through Bluetooth and  can control 4 servo.i am still learning and will update visit our site and follow our social profiles.Click on the image to see the details of all options and and buttons.
Download The app AndroBot _Arm by Sourabh Kumar from Here:-

AndroBot_Arm.apk by Sourabh Kumar

Steps to Controlling the Robotics Arm through The Android Phone:-

  1. Switch the Arm by switch it  ON
  2. In your Phone Go to Settings and find the Bluetooth settings.
  3. Switch on the Bluetooth of the Android Phone,And Search for new Bluetooth Devices.
  4. HC-04/05 will be Appear in the List after search result.
  5. Pair with the Bluetooth module by using Passward:-1234
  6. Now Open the Android App and click on Connect.
  7. A new window will be appear in which all the Bluetooth devices will be appear.
  8. Click on HC-04/05.
  9. Now your Robotics Arm is connected with the android Smartphone.
  10. Now in the app there is 4 Slider (One slide for one servo) .
  11. Try one by one they will control the arm .
Working of the Robotic arm Circuit:-
First of all the switch the arm "ON" and bluetooth module will also turned to on with it.we have to connect the arm with the Smartphone using above steps.Now after successful connection we have to move the slides right or left. Every slide have some values similar to X000 to X180.where X= 1,2,3,4.Now when we move slider then a number or date is transferred to the Arduino through Bluetooth module.Now the Date is converted to the angle with the help of Program and Library now according to the angle PWM signal is given to the Pins of arduino.Orange wire or signal wire of all servo is connected to the PWM pin of Arduino.Thus the servo's gear also rotates to the angle.Similarly the working is same for all the servo,and Thus the Robotics Arm works.

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Make An Ultrasonic Radar or USDAR

If everything goes right and working then have completed Part 2  How To Make an Bluetooth Controlled Robotics Arm which is a part of AndroBot and we are ready to move on the next step.i will post All Remaining Parts in next few days.Till than think what improvement we can do in this project and share with us.

This post first appeared on Andro Root, please read the originial post: here

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How to Make Bluetooth Controlled Robotic Arm


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