Robotics & Kinematics • Robotics • Mechatronics • ECE • Final Year Capstone (7th/8th Sem)
6-DOF Robotic Kinematic Arm
An articulated 6-Degree-of-Freedom robotic manipulator driven by metal gear servos and a PCA9685 I2C controller. Solves mathematical inverse kinematics in real time for precise trajectory planning and automated pick-and-place routines.
Hardware Bench Preview
Component Bill of Materials (BOM)
Total: ₹3,190 1. MG996R Metal Gear High-Torque Servos (11kg/cm)
Qty: 4 ₹1,160
2. SG90 Micro Servos (End-Effector Gripper)
Qty: 2 ₹170
3. PCA9685 16-Channel 12-bit PWM Servo Driver
Qty: 1 ₹210
4. NodeMCU ESP32 (Motion Trajectory Processor)
Qty: 1 ₹420
5. 5V 10A Switch-Mode Regulated DC Power Supply
Qty: 1 ₹550
6. Laser-Cut Acrylic Robotic Arm Chassis & Bearing Base
Qty: 1 ₹680
Academic Deliverables Included
- ✓ 75+ page university Major Project report with Denavit-Hartenberg (DH) matrices
- ✓ Complete KiCAD wiring schematics and 6-axis power distribution diagrams
- ✓ Tested Arduino / ESP32 motion control firmware with smooth spline interpolation
- ✓ 25-slide Viva defense presentation deck with kinematic derivations & examiner Q&A
Bench Testing Benchmarks
- • Analytical inverse kinematics (IK) solver executed at 60Hz update rate
- • Pick-and-place repeatability verified within ±2.5mm on calibrated test grid
- • Hardware PWM jitter suppression via dedicated PCA9685 I2C controller
- • Over-current and stall protection logic built into motion supervisor