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25-31 

25 

 

 

 

Article 

Development and implementation of a wireless-

controlled robotic arm for lifting applications with 

6 DOF 
Nwadinobi Chibundo Princewill1*, Takim Steve2, Omajuwa Edesemi Omawumi3  

1Department of Mechanical Engineering, Abia State University, Uturu, Abia State, Nigeria 
2Department of Mechanical Engineering, Cross River University of Technology,Calabar, Cross River State, Nigeria 
3Department of Mechanical Engineering, Gregory University Uturu, Abia State, Nigeria 

A R T I C L E   I N F O 
 

Article history: 
Received 28 March 2023  
Received in revised form 
29 April 2023 
Accepted 08 May 2023 
 
Keywords:  
Bluetooth-controlled, Robotic arms,  
CAD modeling, Android application device 
  
*Corresponding author 
Email address: 
chibundop@gmail.com 
 
 
DOI: 10.55670/fpll.futech.3.1.3 
 

A B S T R A C T 
 

This paper is centered on the design and construction of a Bluetooth-controlled 
robotic arm with 6 degrees of freedom.  It is capable of manipulating given 
objects as well as lifting and conveying a payload from one point to another. Any 
smartphone that possesses an Android operating system can be used for remote 
operations. This offers a background look at robotic arms, from invention to 
current trend as well as simplification of design to make it more accessible to 
robotics enthusiasts. The design process for the robotic arm is chronicled in this 
paper, from the working principle to the development of the kinematic 
equations, as well as CAD modeling and component selection. Tests are also 
conducted to ascertain the robot’s strength and range of capabilities. The 
availability of this robotic arm would serve as an indispensable learning tool for 
experimenting with robotics in training institutions. 

 

1. Introduction 

The term robot is defined as a reprogrammable 
multifunctional operational device designed to manipulate 
certain materials, parts, tools, or devices through various 
programmed movements to perform various tasks [1-3]. The 
aforementioned technological advancements have led to a 
resultant proliferation of robots that play various roles in our 
everyday lives, from entertainment to industrial, medical to 
military; the robots vary in form and purpose with necessary 
classifications [4, 5]. Service Robots are robots that exist to 
serve the everyday well-being of humans, with the exception 
of manufacturing operations. These services can include 
vacuum cleaning and lawn mowing, as well as courier services 
and general logistics. The robots operate autonomously or 
semi-autonomously [6]. Secondly is the Space Robots, which 
are robots employed in space operations, usually for 
surveillance and planetary explorations. These robots are 
known to come with various radio communication features as 
well as highly resilient mobile capabilities [7]. This is followed 
by the Military Robots, which often come equipped with radio 
devices; however, they can also feature bomb-defusing and 
projectile-launching capabilities.  Finally, industrial robots, 

robotic arms that move in multiple directions and can be 
programmed to perform many types of repetitive tasks in 
different environments, such as High pressure and vacuum 
chambers, terribly toxic areas, as well as hazardous 
environments where the explosion, infection, radiation or 
other similar extreme hazards endangering human life. Of all 
robotic systems, the robotic arm has always received the most 
attention because its architecture is the simplest of all robotic 
architectures and therefore appears as part of other more 
complex mechanical robotic systems [8-10]. A robotic arm is 
a type of mechanical arm, normally programmable, that 
works the same way as a human arm. This arm can be the 
summation of the general mechanism or part of a more 
complex robot [11, 12]. There are limbs of such a manipulator 
connected by joints that allow rotational or translational 
movement. The links of the manipulator can be viewed as a 
kinematic chain. The end of the manipulator's kinematic chain 
is called the end effector and corresponds to the human hand. 
Depending on the application, the end effector or the robot 
hand can be designed for any task, such as carrying, gripping, 
turning. Robotic arms function similarly to human arms yet 
have a much greater range of motion, as their design can only 

 

 

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Open Access Journal 

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February 2024| Volume 03 | Issue 01 | Pages 25-31 

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NC. Princewill et al. /Future Technology                                                                              February 2024| Volume 03 | Issue 01 | Pages 25-31 

26 

 

depend on the creator's imagination. The joint that connects 
the robotic arm segments can rotate and move like a hinge, 
and the end effector can be designed for any task. Today, these 
robotic arms are used for tedious and complex tasks that can 
be completed faster than any human [9, 13, 14]. In spite of the 
fact that the field of Robotics has existed since the early 
1930s, two major factors that make it appear inaccessible to 
many aspiring engineers in the third world are the cost and 
the mathematical complexity. In the first instance, the cost of 
acquiring hardware for training purposes to many learning 
institutions can prove quite prohibitive and as a result, 
discouraging. Thus, keeping them out of the reach of entry-
level enthusiasts willing to learn and practice on a 
conservative budget. The second instance, the mathematical 
complexity, is also a major challenge. The aim of this work is 
to design and construct a wireless industrial robotic arm 
capable of being controlled by an Android application via 
Bluetooth, helping to serve as a training model for 
demonstrative and educational purposes. This work covers 
the selection of components, design, simulation, fabrication, 
and programming of the industrial robotic arm. It goes further 
to discuss the implementation of the inverse kinematics of the 
arm.  

2. Materials and methods 

This section comprehensively describes the design and 
construction methods employed for the robotic arm and its 
controller. Being a mechatronic system, the robot comprises 
of a mechanical interface, an electrical/electronic interface, 
and a software interface. Hence, the choice of material for its 
exoskeleton, motor requirements, microcontroller 
capabilities, and the kinematic code are addressed. 

2.1 Choice of exoskeleton material 
In order to develop a reliable exoskeleton for the robotic 

arm, capable of withstanding physical stress and lifting a 
payload, it was important to make certain that the 3D-
printing filament material utilized was going to be strong 
enough to resist shearing but also light enough to not pose a 
significant weight burden to the servo motors. Choosing 
higher-torque servos could pragmatically make the relative 
weight a non-issue.  

 

The key material properties that were put into 
consideration were: Strength and resilience, Temperature 
resistance, Relative lightness, and Availability. From the 
factors listed, PLA (Polylactic acid) tends to satisfy the 
requirements. Not only is it biodegradable thermoplastic, it 
can be readily acquired and melted for use by the 3D printer 
as a result of the fact that it can be economically produced 
from renewable resources. In addition, it offers the much-
needed strength features for the robotic arm. These key 
physical properties are tabulated in Table 1. 

Table 1. Physical properties of polylactic acid (PLA) 

 

2.2 Robotic structural design 
The robotic arm has six degrees of freedom, including the 

gripper. The implication is that it physically comprises six 
servo motors interlinked in series by thermoplastic 
structures forged using a 3D printer. The initial CAD 
(computer-aided design) concept model of the robot was 
designed using Autodesk MAYA (Figure 1). Upon satisfaction 
with the overall artistic look and feel of the robot, a more 
detailed CAD model was designed on Dassault Systemes’ 
SolidWorks software – this time with a greater degree of 
control and accuracy regarding spatial dimensions and 
precise weight calculations (Figure 2). Upon performing mass 
calculations on the model, the following parameters were 
obtained (Table 2). The Articulated Robotic Arm with arrows 
showing its 6 axes of rotation is presented in Figure 3. 
 

 
 

Density 1.180 g.cm-3 

Tensile Modulus 3600 MPa 

Yield Strength 60 MPa 

Flexural Modulus 3800 MPa 

Flexural Strength 83 MPa 

Elongation at break 6% 

Melting Point 150-170 ̊ C 

Figure 1. Screenshot of the initial design process on Autodesk Maya 



NC. Princewill et al. /Future Technology                                                                              February 2024| Volume 03 | Issue 01 | Pages 25-31 

27 

 

 
 
 
 
Table 2. Principal mass parameters 

 
 

 
Figure 3. The Articulated Robotic Arm with arrows showing 
its 6 axes of rotation 
 
With the robot’s six degrees of freedom, the movements of the 
joints are shown in Table 3. 

2.3 Torque calculations and motor selection 
A servomotor is attached to each arm joint to trigger 

movements on the robot's linkages. This servo motor applies 
the required torque to the gimbal to overcome the initial 
resistance against the movement linkage. This initial 
resistance to motion comes from gravitational and inertial 
effects. The gravitational force acting on each ring attracts it 

 

 
 
 
 

 and, under the influence of its own weight, accelerates it 
toward the center of the earth, exerting a drag on it. Because 
of this, the optimum torque produced by the servo motor is 
required to overcome the drag torque (due to gravity). It was 
therefore necessary to calculate the value of the resisting 
torque acting on each rod under the action of gravity to 
ensure that a servomotor with sufficient torque was selected 
for each joint. The section modulus that gravity exerts on the 
joint is highly dependent on the position of the robot. 
Intuitively, of course, the torsion of the shoulder joint is much 
greater when the arm is stretched horizontally [2].  

Table 3. MOI-Output coordinate system values 

Axis No. 
Name of the 

Joint 
Motion 

Motor 

No. 

1 Base 
Rotates the whole 

assembly 
1 

2 Shoulder Rotates upper arm 2 

3 Elbow Rotates forearm 3 

4 Wrist Pitch 
Rotates gripper along 

the X-axis 
4 

5 Wrist Roll 
Rotates gripper along 

the Y-axis 
5 

6 Gripper Hinge 
Opens and closes the 

gripper 
6 

 
Thus, to calculate the torque required for each joint, the 
ceiling value was chosen. From Figure 4, let the motors be 
denoted by Mn, the respective links denoted by Ln, and the 
respective weights of the links be denoted by WMn, the 
notations become: 
• M1 = Waist or base joint 
• M2 = Shoulder joint 
• M3 = Elbow joint 
• M4  = Wrist Joint 
• WL2 = Weight of L2 
• WL3 = Weight of L3 
• WL4 = Weight of L4 
• WEE = Weight of end effector (gripper) 
• Wpayload= Weight of payload 
• WM2 = Weight of M2 
• WM3 = Weight of M3 

Mass 453.17g 

Volume 453166.56 mm3 

Surface Area 178518.55 mm2 

Centre of Mass (mm) 

X 64.02 

Y -82.20 

Z 152.87 

Figure 2. Screenshot of the modeling process on SolidWorks with greater detail 



NC. Princewill et al. /Future Technology                                                                              February 2024| Volume 03 | Issue 01 | Pages 25-31 

28 

 

• WM4 = Weight of M4 
• WM5 = Weight of M5 (end effector) 

 
Figure 4. Free-body link diagram of the robotic arm in a 
stretched-out pose 

 
The calculation of the resistive torque which is exerted on 
each joint due to gravity is as follows: 
• Resistive torque at M1 due to gravity is at 0 (since there is 

no vertical rotation) and is disregarded. 
• Let resistive torque at M2 due to gravity = T2g 
• Let resistive torque at M3 due to gravity = T3g 
• Let resistive torque at M4 due to gravity = T4g 

T2g = WL2 (
𝐿2

2
)+ WM3L2 + WL2 (L2 + 

𝐿3

2
 ) + (WM4 + WL4 + WM5 + 

WEE + Wpayload)(L2 + L3)                                                                      (1) 

T3g = WL3 (
𝐿3

2
)+ (WM4 + WL4 + WM5 + WEE + Wpayload)(L3)        (2) 

T4g = 0 N-m since the wrist rotation does not result in vertical 
motion against gravity           (3) 

In order to model it efficiently, the expected weights of 
the servo motors also had to be factored into the torque 
calculations even prior to the motor selection itself. The most 
convenient option was using the average servo motor weight 
(which can vary from 40-56 grams) for a mechatronic system 
of this weight class. 
From theoretical data: 
• Weight of servo motors = 56g 
• Density of the filament material = 1.18gcm-3 
• Length of Link 2 = 10.6cm 
• Length of Link 3 = 11.7cm 
• Length of Link 4 = 10cm 
• Weight of M4 nut and bolt = 2.5g 
• Weight of M2 nut and bolt = 1.5g 

Using the derived equations to calculate the given 
estimates, the torques acting on M2, M3, and M4 were found 
to be 10.37kg-cm, 9.36kg-cm, and 6.26kg-cm, respectively. So, 
from those values, the 11kg-cm torque TowerPro MG996R 
servo motor was selected (Figure 5) for the three joints 
(Base/Waist, Shoulder, and Elbow), while the 1.5kg-cm 
torque TowerPro SG-90 servo motor was selected (Figure 6) 
for the two wrist joints and the gripper end effector. 

2.4 Limb kinematics 
Since the robot is designed to perform in 3D space, the 

end effector is required to follow a planned trajectory in order 
to manipulate objects or carry out the task in the workspace. 
This requires the control of the position of each link and joint 
of the manipulator to control both the position and 
orientation of the tool. To program the tool motion and joint-
link motions, a mathematical model of the manipulator is 
required to refer to all geometrical and time-based properties 
of the motion. The kinematic model describes the spatial 
position of joints and links and the position and orientation of 

the end effector. The derivatives of kinematics deal with the 
mechanics of motion without considering the forces that 
cause it. The relationship between movements and forces and 
the moments that cause them is a dynamic problem. 
Kinematics and dynamics are important when designing a 
robotic arm. Previously developed mathematical spatial 
description tools are used to model robotic manipulators. The 
kinematic model shows the relationship between the position 
and orientation of the end effector and the spatial positions of 
the joints. The differential kinematics of manipulators refers 
to differential motion. 

 
Figure 5. The MG-996R metal gear servo motor and it’s 
dimensions  

 
Figure 6. The SG-90 servo motor and it’s dimensions 

2.5 Kinematic analysis using the Denavit-Hartenberg 
convention 
The Denavit-Hartenberg (D-H) notation was used in 

computing the kinematics of the robotic arm. It is also 
illustrated in Figure 7.  

 
Figure 7. The Denavit-Hartenberg parameters 

 

 



NC. Princewill et al. /Future Technology                                                                              February 2024| Volume 03 | Issue 01 | Pages 25-31 

29 

 

The illustration shows that the frame(s) is rigidly 
attached to the distal end of the coupler(s) and moves with 
the coupler(s). The n-DOF manipulator will have (n+1) 
frames, with frame (O) or base frame serving as the reference 
inertial frame and frame (n) as the instrument frame. Figure 
8 shows a pair of adjacent limbs, limb(i-1) and limb(s), their 
associated joints, joint(i-1), joint(i) and joint(i+1), and the 
axes (z - 2), (i-1) and (i).The frame (i) is assigned to the link 
(i) as follows: 
• The Z-axis coincides with the (i)-axis and its direction is 

arbitrary. The choice of direction determines the positive 
direction of the common variable Ɵ 

• The X-axis is perpendicular to the Zi-1 axis, and the Zi 
points are offset from the Zi-1 axis, which means that the 
Xi-axis is directed along the common normal 

• The origin of the coordinate system (i) lies at the 
intersection of the joint axes (i+1) 

• Y-axis completes the right-hand orthonormal coordinate 
frame. 

 
Figure 8. Partition diagram of the manipulator 

 
2.6 The articulated arm kinematic model 

The arm matrix is divided into three parts: 
• The first partitioned matrix 
• The second partitioned matrix 
• Final arm matrix 
To determine the arms point transformation matrix, frames 
are first matched, and the resulting joint-to-joint parameters 
are tabulated. The joint offsets are assumed to be zero for all 
three joints. The Joint Link parameter for the arm is presented 
in Table 4. So, if we give the values of the length of the limbs 
and the angles of the joints, we get the position of the wrist as 
follows:  
X = 8.73cm; Y = 8.66cm; Z = 9.87cm 
These would effectively form the basis for the positional code 
written into the Arduino UNO microcontroller. 

Table 4. Link parameters of the robotic arm 

Link i ai αi di θi 

1 0 90 0 45 

2 10 0 0 85 

3 10 0 0 110 

 
2.7 The servo controller selection 

The robot controls its servo motor by sending digital 
pulses to the onboard circuitry. This type of signal is known 
as a pulse width modulated (PWM) signal. Digital pulses are 
sent to the servo at 20-millisecond intervals, and depending 
on the duration of the pulse, the servo horn moves through an 
angle of 180 degrees. The servo operates as a complete circuit 
that generates the PWM signals to control the servo based on 

code compiled in machine language by the computer to the 
microcontroller. The Arduino UNO (Figure 9) was the most 
suitable microcontroller/servo-controller for the work as a 
result of its vast supply of support libraries and tools for easy 
implementation, owing to its open-source background. It is a 
low-cost, extremely flexible, and easy-to-use programmable 
microcontroller that can be integrated into a wide variety of 
robotic and IoT applications alike. The presence of 14 digital 
pins meant that a surplus number of slots were available for 
the 6 servo motors, and the presence of a USB jack meant it 
could easily interface with the computer after writing code for 
the robot for easy data transfer. 

Figure 9. The Arduino UNO and its pin configuration 
 
The control code for the robot was written using the C++ 

language in the Arduino IDE application on my computer, 
compiled, and uploaded onto the microcontroller board.  

2.8 The telecommunication module 
The robot was designed to be controlled wirelessly with 

a mobile phone assuming the role of a remote controller. On 
the end of the phone was an Android application with sliders 
meant to control the respective angles of each servo motor on 
the robot, and on the receiving end was the robot itself, meant 
to read the instructions from the phone and send the 
respective PWM signals. Since the phone already comes with 
its own antenna, a telecommunication module was added to 
the Arduino UNO board, which would help the robot receive 
the byte data from the remote controller. Bluetooth (IEEE 
802.15) was chosen as the communication medium of choice 
between the two terminals because of its affordability and 
noise resistance. The HC-05 in Figure 10 is a 5V-powered 
module that allows seamless data transmission between the 
robot and the mobile phone. 

Figure 10. Pin-out configuration of the HC-05 Bluetooth 
module 

2.9 The remote controller application 
In order to effectively generate commands for the HC-05, 

the Android remote controller application was designed for 
the mobile phone. This was achieved using the Javascript 



NC. Princewill et al. /Future Technology                                                                              February 2024| Volume 03 | Issue 01 | Pages 25-31 

30 

 

programming language on the node-based App Inventor 
platform developed by the Massachusetts Institute of 
Technology. Unlike the Arduino IDE, instructions are 
developed by manually plugging the required code blocks to 
form a larger function on a specialized Graphical User 
Interface as opposed to scripting the instructions on a text 
editor. The program was developed and exported as an 
Android application package file (APK) for download and 
installation on an Android smartphone. In order to make the 
program easily installable, it was uploaded to a Google Drive 
folder, and the link was embedded onto a QR code chip to be 
attached as a sticker on the body of the robot. 

2.10 The final robotic arm model 
The final model of the robotic arm - with its circuit 

board, servos, and Bluetooth module – is shown in Figure 11. 
The model was designed using Dassault Systeme’s 
SolidWorks 2015. 

 

 

 

 

 

 

 

 

 

 
Figure 11. The fully assembled structure of the robotic arm 

 

 

3. Results and Discussion 

The robotic arm was developed with the structural frame 
designed with a computer using SolidWorks. Subsequently 
sculpted with a 3D-printing machine using polylactic acid as 
the polymer filament of choice, as shown in Figure 12.  

The robot’s Arduino UNO board was connected to the 
computer via USB, and the codes were uploaded. There were 
three programs that were written and uploaded into the 
Arduino board:  
• The first was the motion control program which granted 

the robot the ability to move its arm using the developed 
kinematic equations that were obtained for it. 

• The second was the individual servo control program 
which allowed the user to angle the servos independently 
of each other. 

• The third was the firmware layer program which included 
the necessary libraries to enable the robot to recognize the 
interfaced components without needing to write new code 
whenever a component gets replaced. 

The remote controller was initially designed to be able to save 
the steps and actions of the robot and play them continuously 
upon command, as is the case in an industrial setup, but to 
ensure compatibility with even the lowest tier Android 
phone, a separate application had to be written and 
simplified. This second application simply controlled the 
robot with the use of sliders for the servo motors. For the 
Arduino, the board had to be powered with a 9V battery 
through its 12V DC power jack. 
 In order to ascertain the load-carrying capacity of the robot, 
various workloads were weighed and lifted by the machine 
until the servos stopped angling upwards on command, as 
shown in Figure 13. The maximum load mass was discovered 
to be 0.646kg or 646 grams. 
 
 
 

 

Figure 12. The sculpting process of the robot’s structural framework 



NC. Princewill et al. /Future Technology                                                                              February 2024| Volume 03 | Issue 01 | Pages 25-31 

31 

 

 
 
Figure 13. Testing the load-carrying capacity of the robotic 
arm 

4. Conclusion 

The study aims to develop a wireless-controlled robotic 
arm with 6 degrees of freedom and a two-finger grip. It has 
also been shown that the robotic arm can be deployed at any 
scale to suit a variety of interests depending on programming. 
This work covered all aspects of structural design and 
analysis. Projects like this can be done to encourage students 
who want to venture into this field, especially in a developing 
country like Nigeria, with a robotics/mechatronics industry 
in its infancy. 

Ethical issue 
The authors are aware of and comply with best practices in 
publication ethics, specifically with regard to authorship 
(avoidance of guest authorship), dual submission, 
manipulation of figures, competing interests, and compliance 
with policies on research ethics. The author adheres to 
publication requirements that the submitted work is original 
and has not been published elsewhere. 

Data availability statement 
Datasets analyzed during the current study are available and 

can be given following a reasonable request from the 

corresponding author. 

Conflict of interest 

The authors declare no potential conflict of interest. 

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(https://creativecommons.org/licenses/by/4.0/). 


