Applications of a Robotic Arm (A Dobot)

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 10 Issue: 01 | Jan 2023 www.irjet.net p-ISSN: 2395-0072
© 2022, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 412
Applications of a Robotic Arm
(A Dobot)
Dr. Rahul Pol1, Suujay Dhhoka2
1Robotics & Intelligent System Design Lab Vishwakarma Institute of Information Technology, Pune, India
2Electronics and Telecommunication Vishwakarma Institute of Information Technology, Pune, India
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Abstract- Today, a robotic arm may be utilized for a
wide range of tasks, such as pick-and-place
operations, medical procedures, industrial
automation, and many other things. The robotic arm
moves and completes the work based on the hand
motions of humans. This device imitates the
movements of human hands. The arm is incredibly
versatile and may be utilized in fields like making
fireworks and bomb disposal when the atmosphere is
dangerous for people to be in. The robotic arm may be
controlled in a variety of ways. The Dobot Studio
programme is used in this study to discuss the Dobot's
applications as a robotic arm.
Keywords- Dobot (Robotic arm), pick and place, colour
sorting, stacking, 3D printing, laser engraving, writing
and drawing.
INTRODUCTION
Reserve room for robotics in all disciplines, including
engineering, medicine, and space science, among others,
because it has had a significant influence on our
civilization in the current day. Robots can be utilized in
emergency scenarios like bomb disposal where human life
is at risk. An artificial mechanical arm known as a robotic
arm may be programmed and has functions that are
similar to those of a human arm. The arm could be the
whole device or it might be a part of a more complex
robot. A robotic arm can be used to perform a wide range
of activities starting from small scale household use to a
larger scale industrial purpose. In this article, I have tried
to scale down a few applications that I have performed on
a dobot magician as shown in figure1. I have used an
application namely Dobot Studio linking it with my robot
arm.
A. Pick and Place
Pick and place robots give businesses the ability to
employ automated methods for moving goods from one
spot to another. Lifting or transferring goods from one
spot to another does not need much consideration when it
comes to simple activities. Lifting or moving goods is a
simple action that doesn't take much thought.
Consequently, hiring human labour for these jobs might
be inefficient because the workforce could be better
utilized for tasks requiring higher cognitive capacities. The
pick-and-place robots are in charge of these repetitious
chores. These robots frequently have vision and sensing
systems that allow them to take items off of a moving
conveyor belt.
[1]Pick and place robots come in a variety of designs
depending on the particular task they are utilized for. The
majority of these designs have a similar fundamental idea.
These robots often have a long arm that can reach their
whole working area and are mounted on a sturdy pedestal.
For the kind of thing the robot wishes to move, the end of
the arm attachment is tailored. These robots can move
objects from a moving surface to a moving surface, from a
moving surface to a stationary surface, and from a
stationary surface to a moving surface (such as between
two conveyor belts).
My robotic arm had 4-axis. However, there are also 5-axis
and 6-axis robotic arms in use that can twist the items to
rotate their orientation. Different end-effectors can be used
such as a gripper or a suction cup. Coding can be done in
blockly and python.

Figure 1. Proposed robotic arm (a dobot)
B. Colour Sorting
As seen in figure 2, the colour sensor is utilized to
determine an object's colour. It determines the RGB
color's light intensity and outputs a result in
accordance. It includes an inbuilt IR blocking filter that
accurately detects colour. The colour sensor has four
analogue to digital converters.
Figure 2. A colour sensor
The system uses colour as its sorting criterion, hence a
photodiode serves as its colour sensor. [2]The RGB
colour model, which encompasses a large variety of
colours, forms the foundation for the sensor's colour
recognition. The microcontroller is a crucial component
that manages the other building blocks in the unit. The
microprocessor analyses the intensities and regulates
the operations of the other building elements of the
system using the photo sensor's output as input.
detects the object's colour and then grasps it with a
gripper. Controlling the gripper motor is necessary for
this. The gripper motor is once again commanded to
drop the object once the controller has moved the arm
to the dropping area. Since the o/p voltage of the
microcontroller unit is substantially lower than that
needed to operate the motors, motor drivers are
utilised to connect motors with the microcontroller
unit. Three servo motors and one stepper motor power
the entire system.
[4]The colour sensor picks up the RGB primary colours
and then searches for reflected colour intensities,
which are then translated into 8-bit values for each
primary colour. As with the GREEN and BLUE colours,
the RED colour item reflects the RED colour with strong
intensity. The additional colours are made by
combining the RGB's three primary colours. Knowing
the preset primary colour values makes it simple to
identify the colour of the tested object. Since each
colour has a specific value and the matching light
intensity is reflected on the sensor, the sensor will
generate the output.
Three servos and one stepper motor are used to control
the pick-and-place control action. PWM pulses are used
to drive a servo motor and change and maintain
position. The arm is rotated at a particular angle using a
stepper motor. The mechanical part's arm and gripper
are built of compressed 2 mm aluminium sheet, which
will assist make the model lighter. The object is chosen
by the sensor using a gripper once it recognises the
colour of the thing. Controlling the gripper motor is
necessary for this. The gripper motor is now directed to
drop the thing once more as the controller now moves
the arm to that point.

A. Stacking
Figure 3. Stacking blocks using a robot arm [5]
Figure 3 shows a robot arm stacking the blocks one above
another and forming a pyramid. Stacking is the process
which does not require a lot of thinking and therefore it is
pointless to appoint a human being to perform that job
when machines can do it tirelessly. A robot arm is the best
possible choice for it. It can carry heavy loads as well and
at times can be very flexible as well. Different end
effectors can be used and that too of different sizes as per
the requirement. A gripper and the suction cup are among
them.
Stacking is mainly done at industries for packaging
purpose. It can also be very useful at the warehouses and
also in arranging the transportable containers.
Figure 4. Cool 3D printing robotic arm [7]
B. 3-Dimentional printing
The method of creating three-dimensional items by the
printing or addition of incredibly thin layers of material is
known as additive manufacturing, or 3D printing. It is
extensively utilised in quick manufacturing, rapid
prototyping, healthcare, dentistry, orthopaedics,
jewellery, and architecture, and its application in
additional fields is constantly expanding. [8]Digitally
produced 3D items can be designed or constructed using
computer-aided design software, scanned using 3D
digitising equipment, or created by taking pictures of the
object's exterior. The format is translated into extremely
thin horizontal slices and consecutively printed one atop
the other to generate the finished product. The digital form
elements that hold the essential data direct the three-
dimensional printer, which guides the format. Figure 4
shows a dobot building a 3-dimentional model.
To create the required shape and the appropriate item,
processes including modification, moulding, alignment,
and combination are used. [7]The dobot Magician is
similar to many other 3D printers on the market and is
accurate enough to produce things with fine details. Dobot
can also print in multiple colours because to its twin
extruders. Furthermore, it works with well-known open-
source 3D printing programmes like Repetier Host and
Pronterface.
C. Writing and Drawing
Figure 5. Robot arm Writing and Drawing using a pen [7]
Because of its exceptional precision and stability, the Dobot
Magician can draw smooth lines. Customized artwork may
be sent into Dobot's software to be translated to code and
then drawn on paper by the arm. Similar settings can also be
used for custom text. It may be a great ally for creatives. A
robot arm can also be used for calligraphy, portraits, and
much more.
I used Dobot Studio application for writing and drawing. It is
very easy to use. Just select the text or the drawing and
place it properly between the coordinates. Then, adjust all
the three axis properly as per the sheet placed beneath the
pen and it’s all set. PCB designs can also be created on a
copper plate for project purpose.
D. Laser Engraving
[7] Dobot Magician can engrave not only lines but also
shaded sketches of pictures by simply swapping the pen
with a laser end-effector. Harder materials like leather and
wood may be engraved with its strong laser head. It's a
fantastic tool for creating artwork and unique gifts.

Figure 6 shows a dobot engraving my department logo on a
wooden plank. [9] Drawing and laser engraving both use
the same graphical user interface. Adjust the zero point and
direct the laser beam towards the desired material while
laser engraving for the first time. Zero point adjustment
refers to aligning the laser nozzle's end effector with the
surface of the work item being engraved. In essence, the
zero point does not have zero value since it makes sure the
laser nozzle only contacts the target surface.
Figure 6. Laser engraving on wooden plank
CONCLUSION
For a better understanding of the applications of the
robotic arm, I have successfully read a number of research
articles written by various writers. Robotic arms are useful
for a variety of industrial and manufacturing processes that
call for quickness, accuracy, and repeatability. [11]Today,
robotic arms are employed in many different industries and
sectors to increase production and yield a quicker return
on investment. It offers a high level of accuracy and removes
people from risky operations. In addition to everything else,
they are now considerably more affordable and frequently
marketed with various attachments for specific tasks.
From this article, one can conclude that robotic arm is very
useful and is just like a human arm. In this competitive and
growing world, where robots will be the future, a lot more
research and advancements will be made in the similar
fields. Working on a dobot magician robotic arm and
experiencing it was like a great accomplishment for me.
REFERENCES
[1] What is a Pick and Place Robot and How Does it Work?
- PWR Pack
[2] S. A. Khan; T. Z. Anika; N. Sultana; F. Hossain; M. N.
Uddin Color Sorting Robotic Arm | IEEE Conference
Publication | IEEE Xplore, 2019 International
Conference on Robotics, Electrical and Signal
Processing Techniques (ICREST)
[3] I. Vojtko, M. Kocisko, M. Janak and V. Fecova, "The New
Design of Robot Arm", IEEE 11th International
Symposium on Applied Machine Intelligence and
Informatics, pp. 53-56, 2013.
[4] Color Sorting Robotic Arm | IRJET Journal -
Academia.edu
[5] stacking blocks using robot arm research paper - Bing
images
[6] Quan Khanh Luu; Hung Manh La; Van Anh Ho, “A 3-
Dimentional Printing System using an Industrial
Robotic Arm”, 2021 IEEE/SICE International
Symposium on System Integration (SII)
[7] DOBOT Magician - Lightweight & Intelligent Robotic
Arm - AstirTech
[8] (PDF) Design and 3d Printing of a Robotic Arm
(researchgate.net)
[9] (PDF) Technical study of the effect of laser engraving
using uArm swift pro robot (researchgate.net)
[10] Stacking blocks with a robotic arm – YouTube
[11] Working of Robotic Arm: How does a robotic arm
work? (universal-robots.com)
[12] Robotic Arms: Features and Applications | Top 3D
Shop
[13] Nishigandha Patel, “Pick and Place Robotic Arm”,
Volume: 08 Issue: 02 | Feb 2021

Applications of a Robotic Arm (A Dobot)

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