🤖 Robotic Arm Vehicle

A Bluetooth-controlled 4WD Robotic Arm Vehicle built using Arduino Uno, featuring a 4-DOF Robotic Arm, Voice Command Support, and a custom Android application developed with MIT App Inventor.

The robot combines a powerful 4-wheel-drive rover base with a servo-controlled robotic arm, allowing users to remotely navigate the vehicle and manipulate objects wirelessly.

📸 Project Overview

Robotic Arm Vehicle is a multifunctional robotics project that integrates:

4WD Mobile Robot Platform
4-DOF Robotic Arm
Bluetooth Communication
Voice Command Control
Android Mobile Application
Embedded Systems Programming

The Vehicle can move in multiple directions while independently controlling the robotic arm for object handling and pick-and-place operations.

✨ Features

🚗 Vehicle Control

Forward Movement
Backward Movement
Left Turn
Right Turn
Stop

🦾 Robotic Arm Control

Base Rotation
Shoulder Movement
Elbow Movement
Gripper Control

📱 Bluetooth Control

Wireless communication using HC-05 Bluetooth Module
Real-time command transmission
Mobile app-based control

🎤 Voice Command Control

Control the rover using voice commands through the Android application:

"Forward"
"Backward"
"Left"
"Right"
"Stop"

⚡ Adjustable Speed Control

Variable motor speed control using PWM

🔋 Portable Battery Powered System

Fully wireless operation
Rechargeable Li-ion battery pack

🛠 Modular Design

Easy to upgrade and expand
Supports future sensors and modules

🧰 Hardware Components

Component	Quantity
Arduino Uno R3	1
L298N Motor Driver	1
HC-05 Bluetooth Module	1
4WD Chassis with Gear Motors	1 Set
Servo Motors	4
4-DOF Robotic Arm Kit	1
XL4015 DC-DC Buck Converter	1
18650 Li-ion Batteries (3.7V 1200mAh)	2
Battery Holder	1
Power Switch	1
Capacitor(1 × 1000µF 16V)	1
Jumper Wires	As Required

🛠️ Circuit Diagram

🔌 Pin Connections

L298N Motor Driver

L298N Pin	Arduino Pin
IN1	D7
IN2	D8
ENA	D10
IN3	D12
IN4	D13
ENB	D11

Servo Motors

Servo	Arduino Pin
Base Servo	D3
Shoulder Servo	D5
Elbow Servo	D6
Gripper Servo	D9

HC-05 Bluetooth Module

HC-05 Pin	Arduino Pin
TX	D0 (RX)
RX	D1 (TX) via Voltage Divider
VCC	5V
GND	GND

⚠️ HC-05 Voltage Divider

The HC-05 RX pin operates at approximately 3.3V logic level.

A voltage divider is used to safely reduce the Arduino TX (5V) signal.

Components Required

1kΩ Resistor
2kΩ Resistor

Connection

Arduino TX (D1) ↓ 1kΩ Resistor ↓ Junction Point ↓ HC-05 RX

Junction Point ↓ 2kΩ Resistor ↓ GND

🔋 Power Distribution

Battery System

2 × 18650 Li-ion Batteries
Total Voltage: 7.4V

Power Flow

Battery Pack ↓ Power Switch ↓ XL4015 Buck Converter ↓ 5V Output

Powered Devices

5V Supply

Arduino Uno
HC-05 Bluetooth Module
Servo Motors

Battery Supply

L298N Motor Driver
4 Gear Motors

📱 Android Application

The Android application is developed using MIT App Inventor.

Manual Control

Forward
Backward
Left
Right
Stop

Robotic Arm Control

Base Rotation
Shoulder Movement
Elbow Movement
Gripper Control

Voice Control

The application supports speech recognition for controlling rover movement.

Supported Commands:

Forward
Backward
Left
Right
Stop

Voice commands are converted into Bluetooth commands and transmitted to the Arduino through the HC-05 module.

💻 Software

Programming Language

Arduino C++

Libraries Used

#include <Servo.h>

Communication Protocol

Bluetooth Serial Communication
Baud Rate: 9600

📂 Project Structure

Robotic Arm Vehicle/
│
├── Arduino_Code/
│   └── Robotic_Arm_Vehicle.ino
│
├── Test_Code/
│   ├── Vehicle_Control.ino
│   └── Arm_Control.ino
│
├── Mobile_App/
│   ├── Robotic_Arm_Vehicle.aia
│   └── Robotic_Arm_Vehicle.apk
│
├── Images/
│   ├── Circuit-Diagram.png
│   ├── Banner.png
│   ├── Robotic-Arm-Vehicle.png
│   ├── Robotic-Arm.png
│   └── Arm-Vehicle.png
│
├── LICENSE
└── README.md

🎯 Applications

Pick and Place Operations
Educational Robotics
Remote Manipulation Tasks
STEM Learning Projects
Arduino Learning Platform
Mobile Robotics Research

🖼️ Gallery