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2020 | Vol 3 | Issue 2 

 

Robotic Arm with Pick-and-Place Function, Controlled by an Android App 

Ms. Nimmakuri Sindhu sri  

Assistant professor 

  KSR Institute of Technology and Sciences, Guntur, Andhra Pradesh, India  

 
 

Abstract 
Robots have been more popular and widely used in recent years, particularly in factories and 

other regular tasks. Robots are programmed to do pick-and-place tasks in various production 

settings. There are several everyday perils when humans are rendered useless. Robots are an 

excellent option for circumstances like these since they can perform without human 

supervision. We are developing an android app to control a pick-and-place robotic arm. The 

robot's motion is controlled by a smartphone-like device equipped with a Bluetooth application. 

Those with physical limitations benefit greatly from the assistance provided by this robotic arm. 

Using an android app, they may direct the robotic arm to do their tasks without leaving their 

seats. Depending on its intended use, the robotic arm project may be adapted to include a 

variety of characteristics, such as a line follower, wall hugger, bottle industry, packaging 

industry, metal detector, etc. 

Keywords: Soft-Catch Arm Pick-and-Place Robot with Atmega328, DC Motor, Bluetooth 

Control, and an Android Smartphone. 

 

 

 

Introduction 
Everyday living presents many potential 

dangers. In today's technologically 

sophisticated world, automation has the 

potential to vastly expand production 

capacity, vastly enhance product quality, 

and significantly reduce costs. There are a 

lot of situations in which a person just 

cannot function. The rise in the cost of labor 

and the increasing expectations of 

consumers have made robots an 

increasingly impressive machine. The use 

of robots in dangerous environments has the 

dual benefit of protecting human workers 

and freeing up human workers for more 

important tasks. It has applications in the 

fields of medicine, surgery, military, AI, 

retail, and production.The suggested 

technology by Shamsheer Verma et al.,[1] 

uses hand gestures for wireless operation 

and control.The suggested technique by 

Puran Singh et al.,[2] which is a system 

comprising several subsystems that interact 

with each other and the environment in 

which the robot operates, was created.The 

image processing technique created by 

Rahul Kumar et al.,[3] is necessary for the 

complete functionality of a pick and place 

Robotic arm designed for item sorting.The 

suggested approach by Priyambada Mishra 

et al.,[4] uses servo motors to create the 

robotic arm's joints and a potentiometer for 

fine-tuning the movement. The servo 

motors are controlled by a microcontroller 

board, and the Arduino UNO has a 

potentiometer connected to its analog input. 

A robotic crane is the best analogy I can 

make for this model. 

The suggested approach by Chaitanya K. 

Jambotkar et al.[5] was created with the 

goal of reducing the likelihood of human 

mistake and the need for manual 

intervention in order to get better results. It 

discusses incorporating Robo-Arduino into 

a pick-and-place robot for any purpose.A 

pick-and-place robotic arm vehicle, 

controlled by voice instructions via an 

android app, was built and constructed 

according to the methodology provided by 

Alka, N. U. et al. [6]. After receiving 

instructions from an Android app, the 



 

 

robotic vehicle will carry them out. 

 

The suggested technique by Areepen 

Sengsalonga et al.[7] uses red, green, and 

blue items to represent the three primary 

colors. When the light photodiode sensor 

receives a color input, the robot arm's 

gripper will move to select and transfer 

things of that color.The suggested approach 

by Anughna N et al.[8] was created to build 

a mechanical arm limited by typical human 

arm developments, the data for which is 

obtained by means of 

accelerometers.Robots often carry out 

unpleasant, dangerous, and repetitive 

activities.Material handling, assembling, arc 

welding, resistance welding, machine tool 

load and unload, painting, spraying, etc. are 

only a few of their various uses. A lot of 

robots' components are made to look like 

things found in nature. The robot's arm, or 

manipulator, is modelled after the human 

arm in terms of design and construction. 

The robot can do pick-and-place tasks, 

allowing it to manage things. In addition, it 

may perform independently. Technology 

for electronic robot systems in industry has 

been rapidly expanding. 

 

 

 

 

1. Methodology 
 

Fig-1: Block diagram of pick and place robotic arm using android application 

 

 

The hardware implementation of pick and 

place arm system consists of Micro 

controller (Arduino UNO), Bluetooth 

module, Motor Driver (L293d), Android 

application device and power supply. 

There are two DC motors is employed to 

maneuver the vehicle forward or 

controller. Micro controller offers the five 

milli amp output that isn't ample enough 

to drive the DC motors that’s why we 

tend to use motor driver. The vehicle will 

be controlled by the android application 

device at the transmitting end, which will 

send signal to Bluetooth module (HC-05) 

which is employed as an interface 

between Mobile and Vehicle (Robot) 



 

 

1.1. Power Supply 

 

A power supply is an 

device that supplies electric power to an 

electrical. The main purpose of a power 

supply is to convert electric current from 

a source to the correct , and voltage, 

current and frequency to power the load. 

To supply power to vehicle, rechargeable 

batteries are usually the best ones. A 

standard 300-500 rpm motors run well 

between 9 to 12 volts. 

1.2. Arduino Uno 
 

Arduino is an open-source 

electronics platform based on easy-to-use 

hardware and software. Arduino board can 

read inputs - light on a sensor, a finger on 

a button, or a Twitter message - and turn 

it into an output - activating a motor, 

turning on an LED, publishing something 

online. You can tell your board what to 

do by sending a set of instructions to the 

microcontroller on the board. To do so 

you use the Arduino programming 

language (based on Wiring), and the 

Arduino software language (IDE) based 

on processing. 

 

 

 

Fig 1:Arduino Uno board 
 

1.3. L293D Motor Driver 
 

L293d IC is known as a motor 

driver. It is a low voltage operating 

device like other ICs. The other ICs could 

have the same functions like L293d but 

they cannot provide the high voltage to 

the motor. L293d provides the continuous 

bidirectional Direct Current 

 

Fig 2: L293D Motor Driver 



 

 

2.3. DC Motors 

 
A DC motor in simple 

words is a device that converts electrical 

energy (direct current system) into 

mechanical energy. It is of vital 

importance for the industry today and is 

equally important for engineers to 

consider the working principle of DC 

motor in details that has been discussed in 

this article. To understand the operating 

principle of DC motor we need to first 

consider its constructional feature. 

 

 

Fig 3: DC Motors 
 

2.4. Servo Motors 

2.4.1 MG995 Servo Motor 

MG995 Servo motor or 

“servos”, as they are known, are 

electronic devices. It is a high- speed 

standard servo can rotate approximately 

180 degrees used for airplane, helicopter 

and many RC models. MG995 has three 

terminals and the function of each pin is , 

the PWM signal which states the axis 

position is given through this pin. 

Positive power supply for servo motor is 

given and the other pin is connected to 

ground or circuit supply. 

 

 

Fig 4: MG995 Servo Motor 
 

2.4.2 SG90 Servo Motor 

The SG90 Micro Servo motor 

is a small, high-performance servo motor 

commonly used in robotics, model 

making and other hobbyist projects. It has 

a compact form factor and is relatively 

low-cost, making it an attractive choice 

for many applications. The SG90 servo is 

a miniature servo, with some very 

compact dimensions to be able to 

integrate in projects where space is 

important. 

 



 

 

 

 

Fig 5: SG90 Servo Motor 
 

2.5 HC-05 Bluetooth Module 
 

HC-05 Bluetooth Module 

is an easy-to-use Bluetooth SPP (Serial 

Port Protocol) module, designed for 

transparent wireless serial connection 

setup. Its communication is via serial 

communication which makes an easy way 

to interface with controller or PC. 

Wireless communication is swiftly 

replacing the wired connection when it 

comes to electronics and communication. 

Designed to replace cable connections 

HC-05 uses serial communication to 

communicate with the electronics. 

 

 

 

 

 

 

 

Fig 6: HC-05 Bluetooth Module 
 

2. Results and Discussions 
 

In the method of pick and place 

robotic arm using android application, we 

are using an android application to 

control the robotic arm. The android 

application is installed in the device. 

Using the Android application we control 

the robotic arm and vehicle. Connect the 

HC-05 Bluetooth module to the android 

application. The information is sent after 

the Arduino is interfered with the 

Bluetooth module. Hence the robotic arm 

and vehicle is controlled using some 

commands. 

 

The Arduino A0,A1,A2,A3 is 

connected to the L293D motor driver. 

Servo motor wires are connected to 

6,7,8,9,10,11 pins of Arduino. HC-05 

Bluetooth module of TX pin is connected 

to RX pin of Arduino and RX pin of HC-

05 Bluetooth is connected to TX pin of 

Arduino 



 

 

 

 
 

 
 

 

 

 

 

3. Conclusion and Future Scope 
 

Pick-and-place automation using robots 

expedites the movement of components to 

new places and boosts output. These pick 

and place robots are more precise than 

humans and don't tire from making 

repeated, laborious actions. These systems 

are also adaptable, since they may be 

repurposed via programming and retooling 

to meet the needs of a wide range of users. 

The robot's success lies in the fact that its 

motion, including that of the mobile and 

arm robot, can be controlled wirelessly.The 

robot's gripper may be made customizable 

to select any things, varying in their forms, 

and in the future, photographs of an object 

can be provided as an input to the robot to 

search and discover the object. The IP 

camera-equipped robot may be remotely 

controlled to disarm defenses. 

 
References 

 
 

[1] Shamsheer Verma “Hand Gestures 

Remote Controlled Robotic Arm”, 

Advance in Electronic and Electric 

Engineering. ISSN 2231-1297, Volume 3, 

Number 5 (2013), pp. 601- 606. 

[2] Puran Singh, Anil Kumar, Mahesh 

Vashishth “Design of Robotic Arm with 

Gripper and End effector for spot 

welding”, Universal Journal of 

Mechanical Engineering 1(3); 92-97, 

2013, DOI: 10.13189/ujme,2013.010303. 

[3] Rahul Kumar, Sunil Lal, Sanjesh 

Kumar and Praneel Chand “Object 

Detection and Recognition for a Pick and 

Place Robot”. 

[4] Priyambada Mishra, Riki Patel, 

Trushit Upadhyaya, Arpan Desai 

“Review of Development Of Robotic 

Arm Using Arduino UNO”, International 

Journal on Recent Researches in Science, 

Engineering and Technology, ISSN: 

2348-3105 Volume 5, Issue 5, 

May 2017 
 

[5] “Pick And Place Robotic Arm Using 

Arduino.” Harish .K, Megha D, 

Shuklambari.M, Amit K, Chaitanya K 

Jambotkar. “International Journal Of 

science, Engineering and Technology 

Research”, Volume 6, Issue 12, 

December 2017, ISSN: 2278-7798. 



 

 

[6] Alka, N. U. (2017). A Voice 

Controlled Pick and Place Robotic Arm 

Vehicle using Android Application. 

Unpublished, M.Eng. Mini Project, 

Abubakar Tafawa Balewa University, 

Bauchi-Nigeria. 

[7] Areepen Sengsalonga , Nuryono 

Satya Widodo “ Object Moving Robot 

Arm based on Color”, Signal and Image 

Processing Letters, Vol.1., No.3, 

November 2019, pp. 13-19 ISSN 2714-

6677. 

[8] Anughna N, Ranjitha V, Tanuja G 

“Design and Implementation of Wireless 

Robotic Arm Model using Flex and Gyro 

Sensor”, International Journal of Recent 

Technology and Engineering (IJRTE) 

ISSN: 2277-3878, Volume-8 Issue-5, 

January 2020. 


