Mahmood Shaker Albdeiri¹, Alaa Majeed Raheem¹, Hussein Abdul Abbas Hilal², Mustafa Abbas
Shwan³, Muntather Abbas Faisal⁴, Hussein Hazem Abdul Qawi ⁵, Zahraa Ahmed Hussein⁶
Department of Medical Physics and Radiotherapy, Technical Engineering College, Sawa
University, Almuthana, Iraq

Abstract
This investigation describes the development of a low-cost 4-DOF robotic arm based on education and
competition in robotics. The arm is powered by SG90 servo motors and the control is guided by a joystick
interface attached to an Arduino Uno microcontroller. The mechanical system was made from lightweight
acrylic for efficient assembly and rigidity enough for basic motion. Experimental tests included
assessment of movement accuracy, object grasping as well as system stability with various operating
conditions. The robot achieved pick-and-place behaviour for lightweight objects and could perform the
job successfully, with an accuracy acceptable under entry-level mechatronics design. Yet, with various
weaknesses experienced, including motor vibrations, insufficient lifting capability and code timing
sensitivity. Nevertheless, the prototype can be considered as an effective framework for the study of the
kinematics, servo control, the human and machine interaction. The findings show that the inexpensive
educational robot arms can play a pragmatic role in training, experimentation and learning automation.

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