🦾 HexaGrip — 3-DoF Robotic Arm & Robo-Car

A 3-Degree-of-Freedom robotic arm ("FlexiArm") with a companion robo-car, designed, built, and exhibited at the Industry Conclave 2024 Project Expo.

Category: Robotic Manipulation & Locomotion · Platform: Arduino + servos (PCA9685)

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🎯 Overview

HexaGrip is a servo-actuated robotic arm that performs a repeatable pick-and-place style motion sequence across three joints (base, shoulder, gripper). The project also includes a robo-car build and obstacle-avoidance experiments. It was developed as DSN Project 2 and demonstrated live at the 2024 Industry Conclave.

🧰 Components

Part	Role
Servo motors (×3)	Arm joints (3-DoF)
PCA9685	16-channel PWM servo driver / shield
Arduino	Motion controller
HC-SR04	Ultrasonic distance sensing
IR obstacle-avoidance module	Collision detection

🤖 Firmware

• final_robotic_arm/final_robotic_arm.ino — drives three servos (pins 9, 11, 12) through a coordinated base → shoulder → gripper motion cycle.
• sketch_apr24a/sketch_apr24a.ino — a single-servo 0°↔180° sweep used for testing/calibration.

📂 Contents

HexaGrip/
├── final_robotic_arm/     main 3-servo arm firmware
├── sketch_apr24a/         servo sweep test sketch
├── components.docx        bill of materials
├── DSN-2 report.docx      project report
├── review 1.pptx          review presentations
├── review 2.pptx
├── review 2 [Autosaved].pptx
├── FlexiArm Project Expo-Industry Conclave 2024.pptx   expo deck
├── pictures/              build photos & video
├── review 2 pics/         review demo photos & videos
├── robo car/              robo-car build photos
└── robot video.mp4        arm demonstration

⚙️ Getting Started

1. Mount the servos and wire them (directly or via the PCA9685 shield) to the Arduino.
2. Open final_robotic_arm/final_robotic_arm.ino in the Arduino IDE.
3. Ensure the Servo library is installed.
4. Upload and power the servos from an adequate external supply.

🏆 Highlights

• Exhibited at Industry Conclave 2024 Project Expo.
• Full build documentation across three formal reviews.

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👤 Author & License

Author: Badri (@Badri1401) — VIT

Original code, docs, diagrams, and media © the author, released under the MIT License. Third-party materials (excluded via .gitignore) belong to their respective owners.