HazGuard-Robotic-Arm

Introduction

The HazGuard Robotic Arm project is a controlled robotic arm designed to facilitate tasks in nuclear power plant facilities, minimizing workers' exposure to hazards and radiation. The arm is controlled via a glove equipped with flexible sensors and NRF circuits, translating hand movements into precise robotic arm actions.

Features

• Control: Operated through a glove with flexible sensors.
• High Accuracy: Responsive and accurate movement.
• Cost-Effective: Utilizes readily available materials.
• Easy Assembly: Simple to install and assemble.
• Versatile Applications: Suitable for various hazardous environments.

Project Structure

• Arduino_Code: Contains the Arduino source code for calibration and main operation.
• Schematics: Includes circuit diagrams.
• Images: Demonstration images showcasing the project.

Getting Started

Prerequisites

• Arduino UNO
• NRF Transceiver Modules
• Flexible Sensors
• Servo Motors
• Breadboard and jumper wires
• Resistors and other basic electronic components
• Power supply (batteries or an adapter)
• Computer with Arduino IDE installed

Installation

1. Set Up the Hardware

Robotic Arm Assembly

1. Build the Robotic Arm: Build the 3D model of the arm based on your specific needs.
2. Connect the Servo Motors: Connect the servo motors to the Arduino UNO as per the circuit diagram provided in the Schematics/Circuit_Diagram.pdf.

Glove Assembly

1. Attach Flexible Sensors: Place the flexible sensors on the glove.
2. Wire the Sensors: Connect the sensors to the NRF transceiver module and then to the Arduino UNO following the circuit diagram.

2. Upload Code to Arduino

Calibration Code

1. Open Arduino IDE: Launch the Arduino IDE on your computer.
2. Open Calibration Code:
   • Navigate to the Arduino_Code directory in the cloned repository.
   • Open the Calibration_Code.ino file in Arduino IDE.
3. Connect Arduino UNO: Connect your Arduino UNO to your computer using a USB cable.
4. Select the Board and Port:
   • Go to Tools > Board and select Arduino UNO.
   • Go to Tools > Port and select the appropriate port for your Arduino.
5. Upload the Code: Click the upload button (right arrow) in the Arduino IDE to upload the calibration code to the Arduino UNO.
6. Calibrate the Sensors:
   • Follow the calibration instructions provided in the Documentation/Calibration_Process.md.
   • Ensure all sensors are properly calibrated for accurate control.

Main Project Code

1. Open Main Project Code:
   • Navigate to the Arduino_Code directory.
   • Open the Main_Project_Code.ino file in Arduino IDE.
2. Upload the Code: Click the upload button in the Arduino IDE to upload the main project code to the Arduino UNO.

3. Final Setup and Testing

1. Power the Circuit:
   • Connect the power supply to the Arduino and other components.
   • Ensure all connections are secure.
2. Wear the Glove: Ensure the glove with flexible sensors is properly fitted on your hand.
3. Test the Control and calibration:
   • Move your hand to test the robotic arm's movements.

4. Images Through Building the Project: