Abstract
This paper presents a prototype design of a robot for household purpose which aims to act as an aide for humans especially bed-ridden or handicapped people. It can perform various tasks without the need of human assistance. These tasks include lifting and moving objects that are performed with the help of robotic arm and chassis. It can also be configured as surveillance robot within home premises. The robotic chassis has been fitted with 2 gear motors that can displace weight up to 15 kg while the robotic arm is controlled using six servo motors of different torque capacities. These servo motors can be moved at any angle as per requirement. The robotic arm is a six Degrees of Freedom (DOF) arm which has 6 different motions, one associated with every servo motor. DOF can be defined as the freedom of movement of a rigid body in a 3-dimensional space. These movements include surging, swaying, heaving, rolling, pitching and yawing. Its Main Control Unit (MCU) is based upon Raspberry Pi and Arduino. The robot has been wirelessly controlled with the help of RF Transceivers NRF24L01, which can provide user the control of robot up to range of 100m. Joysticks have ben interfaced with an Arduino which is used to transmit instructions to the MCU, via RF transceivers, which correspondingly operate the robot as desired. Video transmission capability has been added to the robot enabling it to operate beyond visual range and provide surveillance of premises for the user. This transmission can be viewed within the local network on the web browser of any device.
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