Reconfigurable Articulated Robot Using Android Mobile Device

Table 1

Design parameters.

Part description	Type/size
Robot arm material	Teflon
Length of arm 1	27 cm
Length of arm 2	38 cm
Diameter of each circular arm	4 cm
Number of teeth on the pinion	24
Diameter of the disc	5 cm
Object to be lifted	Circular hollow box
Weight of the object	100–400 gm
Maximum open span of the gripper	4.3 cm