Mechanical hand

SUBMITTED BY
RAJ PURKAYASTHA (RA1711004020219)
ASHUTOSH SAHOO (RA1711004020028)
SAYAN GUHA (RA1711004020037)
 Introduction

Science has always been about future. And new things come up in this
field for making our future easier or rather we can say the things we
make, i.e. , projects are made for making our lifestyle easier. Even the day
to day works.
Tony Stark aka THE IRON MAN also started making things for making his
life easier and eventually came up with some very great plans which
made us believe that yes someday science can make this possible.
 About the project
In this project; 3D robot hand assembly, servo control, flex sensor control, wireless control
with nRF24L01, Arduino receiver and transmitter source code is used. In short, in this project
we will make a mechanical hand which will be controlled using a glove.
 Components required

• Arduino Board (Nano)

• nRF24L01+ Adapter
• nRF24L01+ Receiver Module
• MG996R Servo Motors
• Flex sensors
• Resistors (10k ohm)
• Batteries
• Battery holders
• Mini breadboards
• Jumper wires
• Glove
• 3D Printed Hand or Plastic Hand
Receiver
At this point, the servos should already be mounted into the forearm. To
connect them to the power supply and Arduino, you can use a small
breadboard.
• Remember to connect the negative on the breadboard to the
Arduino's GND. All the GNDs in a circuit need to be connected for it to
work.
• I recommend using the power adapter for the nRF24L01+ module.
Otherwise, communication may be broken due to insufficient current.
• If you encounter the these problems: vibration in servo motors, servo
motors not working, communication breakdown and in similar
situations, supply your Arduino board with external power (like USB).
• If you used different pins than pins shown in below, change them in
codes.
 Motor connections
• Servo-1 connect to the Analog 01 (A1) of the Arduino.
• Servo-2 connect to the Analog 02 (A2) of the Arduino.
• Servo-3 connect to the Analog 03 (A3) of the Arduino.
• Servo-4 connect to the Analog 04 (A4) of the Arduino.
• Servo-5 connect to the Analog 05 (A5) of the Arduino.
Transmitter

Then we have to connect the nRF24L01.The flex sensors

require a circuit in order for them to be compatible with
Arduino. Flex sensors are variable resistors, so I recommend
using a voltage divider. We used 10K resistor.
• The main GND (ground) wire connected to all individual
GND wires from the sensors, gets connected to the GND
of the Arduino. The +5 V from the Arduino goes to the
main positive voltage wire. The wire from each flex
sensor is connected to a separate analog input pin via
the voltage dividPCB.
• We soldered the circuit onto a small PCB, one that could
be easily mounted onto the glove.You can build the
circuit on the small breadboard instead of the PCB.
• You can use 9V battery for circuit of the glove.
Then we also have to connect the flex sensors, one in the glove
and the other in the mechanical hand.
Coding
Then we have to write the program in the arduino application.
We’ll have to do this coding twice,
• One for the transmitter.
• Other for the receiver.
 Schematics
TRANSMITTER
RECEIVER
 Group 11 siGninG off…
Thank you for listening!