Arduino-Based 4WD Robot Arm

Tey, Ming Jie (2026) Arduino-Based 4WD Robot Arm. Final Year Project (Diploma), Tunku Abdul Rahman University of Management and Technology.

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Abstract

This project presents the design and development of a low-cost four-wheel drive (4WD) unmanned ground vehicle (UGV) integrated with a robotic arm and real-time camera system, controlled using Internet of Things (IoT) technology. The primary objective is to develop an efficient and affordable robotic platform capable of remote navigation, object manipulation, and live monitoring in indoor environments such as factories and industrial facilities, where human access may be limited or unsafe. The system adopts a modular architecture consisting of two main subsystems. The mobility subsystem is built based on an Arduino Uno microcontroller, which controls a 4WD chassis using dual L298N motor drivers. Wireless control is implemented using an HC-05 Bluetooth module, enabling real-time movement control via the Serial Bluetooth Terminal mobile application. This ensures stable and responsive navigation within confined indoor spaces. The manipulation and vision subsystem is implemented using an ESP32-CAM module integrated with a PCA9685 PWM driver to control the robotic arm. A web-based interface is developed to allow users to access live video streaming and remotely control the robotic arm when connected to the same Wi-Fi network. By separating the control systems of the vehicle and the robotic arm, the design minimizes signal interference and enhances overall system reliability. Experimental results demonstrate that the developed system is capable of smooth locomotion, accurate robotic arm operation, and real-time video transmission. The proposed solution emphasizes low cost, flexibility, and ease of implementation, making it suitable for indoor industrial applications such as factory inspection, monitoring, and light-duty material handling, as well as for educational purposes