Annex A- Group Research Proposal

Group Project Proposal (Engineering)
Names: Sharmela, Megan, Jianing, Sock Hui
Class: S2-07
Group Reference: C

Title: Development of a Robotic Claw
Leader, Sketcher: Sharmela
Designer & Scribe: Megan
Materials Coordinator: Jianing
Arduino Programmer :Sock Hui

What is science?

1) Science as a body of knowledge that is acquired through systematic observations of the natural world around us
2) Scientific mode of inquiry as used by scientists
3) Scientific method as a body of techniques for investigating phenomena, acquiring new knowledge or correcting and integrating previous knowledge
4) Examples of scientific discoveries
5)Components of the Scientific Method – Designing, Implementing, Reporting and Evaluating

 “ It is the intellectual and practical activity encompassing the systematic study of the structure and behaviour of the physical and natural world through observation and experiment ”

(a) Improve a product or process: Industrial and applied research
(b) Identify market need for product
(c) Design product with the potential to meet the need
(d) Build prototype products
(e) Determine whether products function as desired
(f) Optimise products with respect to cost, speed, environmental consequences, and other factors that affect profit
(g) Bring product to market and continue

A.    Problem being addressed

“With the advent of computers, there is MASSIVE amounts of data available to us, or that we can make available.This makes a type of science available to us that simply wasn't practical 100 years ago, that is we can model our theories mathematically.”
(Mark.T , 2009)

Although Mark T. mentioned that science available today was not practical long ago, meaning that science has improved, there are still a number of chemicals that the world has yet to discover or observe carefully. Although there are many different contraptions scientists could use to study such matter, the scientists would have to go through many procedures and safety precautions just to get a sample of the chemical to study in the lab. Thus, our team wanted to build a machine that would simplify the process and assist the scientists in getting a sample of the object easily. The scientists have found out that humans cannot touch this substance, but anything else might be able to withstand it. Therefore, they need to reduce the risk of getting harmed. Using the same machine, students and teachers in school could also use it to assist them in science experiments. This machine would thus, make learning for students and teachers much safer and interesting.

B. Goals
  • To create a device which is able to pick up unidentified objects which could have harmful substances present thus, keeping the user safe and out of harm’s way.
  • To create a device which aids students and teachers in science lessons which involve the use of radioactive/infectious chemicals, thus, keeping the user(s) safe

Specific Requirements :
- It must be able to protect the scientists from touching or coming into contact with the harmful chemicals.
- It is battery operated or works on power supply.
- It can withstand mild weather conditions.
-The device has to be efficient and simple to use for the user’s convenience.
-The device has allow the user to be able to pick up unidentified objects safely and not to put him/her at risk.
-It is controlled by a computer.

Alternative Solutions

Design 1
Protective suit
A protective suit could protect the user as it would be designed such that it covers most of him/her.
The material used to create the suit has to be able to withstand corrosive and harmful acids.

  • The protective suit is tedious to make as we would need a vast amount of chemical resistant materials to make it, this solution is not completely safe,being so close to the chemicals nothing can be guaranteed. This protective suit is to be worn on and when the person who wears it goes to check or touch what the unknown item is, he or she will not get hurt in the midst of all the investigation due to the suit that is .

Design 2
Robotic claw
  • Programmed by arduinos and can be controlled from a computer far away.Simple to make using arduinos and motors,it can guarantee the user’s safety,since he is kept at the far distance away which makes it safer than risking the human with a suit. The robotic arm is strong and won’t be easily damaged as it’s claws would be wrapped with anti chemical materials such as nitrile sheets.

Design 3
Scanner to scan chemicals
  • We could improve the device which could scan the chemical composition of whatever it is pointed at. The device shown above is called an SCiO, invented by an Israeli.
  • This is a scanner that will scan the chemical composition of whatever it is pointed at.
  • Thus, we could use a device similar to this to detect whether a chemical found in an item is harmful for humans so that we do not put ourselves at risk.
  • The scanner that our group wanted to do will scan the harmful item and which will be connected to a macbook thus all the data will be reflected on the macbook after the harmful item has been scanned. The scanner will contain lots of data on chemicals and such so that when it scans the harmful item, it will know what it is then will be shown on the macbook.

Best solution and reason

Out of all 3 alternative solutions that we thought of, we decided that the robotic claw was the best solution. For our first solution that we thought of which is the protective suit, we felt that it was tedious to make as we would need a vast amount of chemical resistant materials to make the suit. Even with the user in the protective suit, being so close to the chemicals it cannot be guaranteed that this solution is completely safe. The second idea which is a scanner is far more complicated. For the scanner we would have to mobilise it for it to move up close to the chemicals to scan them also we would then get the data that the scanner scanned on our computers. However this was a risky solution as what if the scanner fails to scan thoroughly enough, we would then thus get wrong data. Last but not least was the third solution- the robotic arm which we all agreed was the best solution. The robotic arm would be the safest to use with the least amount of errors. The robotic arm can be controlled by a computer from a distance which allows the user to be kept safe further away while examining the chemicals should it be radioactive making it dangerous. Also this solution is slightly less complicated compared to the others making is feasible to be made. Thus out of all three ideas, we decided to choose the robotic claw.

Since a robotic arm is already an existing product, we wanted to improve the design by enabling the claws to be able to withstand chemicals which are corrosive and harmful to humans. We could do this by adding a casing to the claw which is made of a material that can be used against chemicals.

C. Description in detail of method or procedures (The following are important and key items that should be included when formulating ANY AND ALL research plans.)

~Plan and sketch the measurements for each part
~Obtaining all the required materials
-The servo motors can be purchased from an online site known as “Servo City”
The acrylic parts can be purchased from a site called
The claw would be sketched online and 3D printed.
The material latex to make the casing of the claw would be provided by the lab.
~Using acrylic to make the arm
Once the acrylic parts have been obtained, it would be glued together to form the body of our robotic claw.
~Program/code the arduino board
A guide on coding the arduino:
~Connect the arduino circuit to the servo motors and power sources
~Power the setup
~Make the cover for the claws out of medical gloves material
~Test out the robotic claw

•Procedures: Detail all procedures and experimental design to be used for data collection (we could refer to:

Equipment list:
  1. 2 servo HITEC HS-815BB   (base) 140 degree rotation
  2. 2 servo HITEC HS-755HB -180 degree rotation  (shoulder)
  3. 4 servos HITEC HS-311      (articulation up/down and turn 180ยบ) (Wrist)
  4. 2 servo Tower pro 646WP(elbow) 180 degree rotation
  5. 4 servo HITEC HS-5070MH (Claw motor )
  6. 1 Arduino circuit board
  7. 1 Arduino UNO
  8. Claw Parts (3D printed)
  9. 80 M to M wires
  10. Batteries - AAA 12v batteries
  11. Rubber gloves (latex/nitrile)
  12. 1 Breadboard
  13. Acrylic sheets
  14. Acrylic parts
  15. Screw(s)
  16. 1 small bottle of Genii Liquid Quartz Glue (acrylic glue)
  17. 14 2-pin buttons
  18. Standard USB printer cable
  19. 7 6.8 resistors
  20. 5 Potentiometers
  21. 1 3mm metal rod
  22. 1 AC adapter (5V, 5.0A)
  23. 1 AC/DC Adapter (9V, 1A)

  1. Sketch and plan out the measurements for each part
Screen Shot 2015-02-12 at 2.06.52 AM.png


Thickness - 5 mm, 2mm
Length - 8 cm
Breadth - 6 cm
Rectangular hole - 2.3 cm by 1.5 cm
Screen Shot 2015-02-12 at 2.41.30 AM.png


thickness: 3 mm
rectangle: 5 cm

Thickness: 2 cm

thickness: 3 mm

Claw example:
Figure (2,3)shows an existing claws which uses servo motors.

Screen Shot 2015-01-31 at 11.02.41 PM.png


thickness: 3 mm
shorter piece:
length - 13 cm
breadth - 3.5 cm
longer piece:
length - 20 cm
breadth - 3.5 cm
Screen Shot 2015-01-31 at 11.02.18 PM.png


thickness - 3 mm
length - 20 cm
Breadth - 13 cm

Screen Shot 2015-02-02 at 9.31.21 AM.png


thickness: 3 mm
length - 20 cm
breadth - 13 cm
diameter - 10 cm

Screen Shot 2015-02-24 at 11.10.01 PM.png


thickness: 3 mm
Bigger circle(s):
Diameter - 10 cm
Smaller circle(s):
Diameter - 9.5 cm

Screen Shot 2015-01-31 at 11.01.55 PM.png


thickness: 3 mm
length: 4 cm
breadth: 6 cm

Screen Shot 2015-01-31 at 11.02.34 PM.png
Screen Shot 2015-01-31 at 11.02.46 PM.png


thickness: 3 mm
length - 20 cm breadth - 6 cm
Semi circle:
Diameter - 6 cm

Screen Shot 2015-01-31 at 11.02.49 PM.png

thickness: 3 mm
length - 6 cm
breadth - 3 cm

Example robotic claw:
The figure and show existing robotic arm with similar body designs.

-Recycled rectangular tin container.
length -  cm
breadth -  cm

3) Buying all the required materials
Figure shows servo motors and breadboard
Figure shows 14 2-pin buttons
Figure shows 7 resistors

4) Glue acrylic parts together and assemble robotic arm

5) Program/code the arduino board

6) Connect the arduino board to the motors with the wires

The ways of connecting the motors and batteries to the arduino board(s):

Figure 1-arduino board circuit online
Figure 2-arduino board circuit when assembled
Figure 3-arduino board circuit with the rainbow wired clips arrangement on the breadboard

7) Connect the servo motors
8) Cut out necessary holes onto tin box and screw buttons into the holes
8) Label controls
-Control Sheet:
(insert pic)
9) Make the cover for the claws out of medical gloves material
-Cut off all fingers from gloves
10) Test out the robotic arm
-Check if each button control the specific parts
11) Record results
  • Data Analysis: Describe the procedures you will use to analyze the data/results that answer research questions or hypotheses
       To test whether our robotic arm works properly, we will:
  1. take a video of the arm in action
  2. test out the robotic arm on different weights
  3. control the robotic arm such that it is able to pick up a test tube filled with acids from one tray to the other

Risk and Safety: Identify any potential risks and safety precautions to be taken.
 Use of power source:
  • risk of electrocution
  • check connection with a voltmeter before switching on the power
  • Short circuit
  • -motors may spoil due to high voltage

D. Bibliography: List at least five (5) major references (e.g. science journal articles, books, internet sites) from your literature review. If you plan to use vertebrate animals, one of these references must be an animal care reference. Choose the APA format and use it consistently to reference the literature used in the research plan. List your entries in alphabetical order.

  Ansell Medical GBU (2015 February 25) How To Pick The Right Glove.

  Arduino Playground (January 19, 2015)(ArDUINO CONNECT TO MOTOR) Tutorials
Retrieved from

  Beaconsfield (January 19, 2015) 3D Printed Robot Arm.
Retrieved from

  Benson, C. (2012, January 18). Lynxmotion - RobotShop Blog.
Retrieved from

  Caroline Chang, Scott Warren, spw54ECE; (2011,January 1) 4760 Final Project report.        

  Eglowstein, H. (2014, October 27). I Like to Move It: Motorizing a Robot Hand.          
Retrieved from

  Element14 Singapore | Electronic Components Distributor (January 19, 2015)
Retrieved from

  jjshortcut (2010, August 17). Multiply the robotic arm and electronics.

  Martzsam (2015 February 25) Easy And Simple Arduino Robot Arm.
Retrieved from

  Mysqo (2014, January 1). Hand gesture controlled robot with robotic arm.

  Robot Shop (2003, January 1). Robotic Arms & Grippers.
Retrieved from

  Robot Shop ( 2015 February 25 ) Modular Robotic Arm Kit. (2013, April 14). Controlling a Robotic Arm with an Arduino Board.
Retrieved from

  Sath02 (2014, January 1). Make Wired Robotic Arm Edge to "Wireless" with DIY Arduino XBee.

  Science Buddies (2002, January 1) Steps of the Scientific Method.

  Shapeways (2015 February 25) 3D Printing Materials.
Retrieved from

  Sk4lex (2010, August 17). Arduino Programmable Robotic Arm.
Retrieved from

   Stephens, M. (2015 February 25) Outdoor Woods: Woodworkers Source's Guide to      choosing Hardwoods for Your Exterior Woodworking Projects. (rESIStant woods)
Retrieved from

  Svec, R. (2001, April 1) Trainable Robotic Arm
Retrieved from

  Timothy (2014, January 28). Arduino Robot Arm - Arduino Hacks.
Retrieved from

  Trossen Robotics (2015 February 25) RobotGeek Snapper Robotic Arm
Retrieved from

  Williams, K. (2014, April 13). Robot Gripper Improvements.
Retrieved from

  yhtomitsy (2015 February 25) Arduino Robot Arm.
Retrieved from

  Zoids, E. (2014, April 16). Robotic Arm Arduino Controlled.
Retrieved from

materials biblo


Sample Claws:


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