Digital Twin in Machinery and Tools – Miniature Robot Arm with Potentiometer-based Control and MQTT Communication
Demonstration video is located at the bottom of this document.
Executive Summary
Firstly, the robotic arm is going to be assembled. Movement of the robotic arm will be handled with potentiometers. Potentiometers movement position save and repeatedly making the move after pressing button. Fetching and displaying data will be handled.
Objectives
- Construct a functional miniature robot arm using 3D model as the primary building material.
- Integrate four potentiometers to enable precise control of the robot arm's movements.
- Implement an MQTT communication in microPython to facilitate data exchange between the robot arm and external devices.
- Sending datas to a Database
Project Scope
Minimizing human requirements and errors in the industrial arms with remote control capabilities and watching the industrial arm's conditions in real time.
1 Servo for clipper (open-close)
4 MG996R Servo (controlling each arm link)
4 10K Potentiometer(to move MG996R servos with potentiometers)
4 Button(for mutiple feature)
- 1 for switching server and potentiometer controlling
- 1 for record arm movements
- 1 for playing this record
- 1 for open and close clipper to hold objects
ESP32(comminicate between components and Internet)
Assembling the servo motors, potentiometers and making cable connections circuit desing
Get together potetiometers, servo motor, and make connection with ESP32
Now Add Pyhton Codes to ESP32
Creating Node-Red Flow MQTT_in nodes connects a topic and gets sends data to gauges MQTT_out nodes send data to ESP32 from sliders Orange nodes helps to store data to SQLite database
Main Robot Arm
SCARA Arm
Creating Node-Red UI Sliders helps to control servos in Node-Red Gauges are shows the angle of potentiometers and servos Database is a SQLite database that stores the servo names, values, and status
Watch the demonstration video
robot.mp4
This project aims to provide precise control and remote monitoring capabilities for industrial arms, ultimately reducing human intervention and minimizing errors. It demonstrates the integration of hardware, software, and data handling to create a functional miniature robot arm.