# Using A Rotary Spring-Driven Gripper to Manipulate Objects of Diverse Sizes and Shapes
## 2 Materials and Methods
### Parts and Specification of the Mechanism
#### 2.1.3 Electrical Component  
The design presented in this paper consists of some general mechatronic components. These components are listed in Table 3.  
The main electrical component used in most mechatronic projects is microcontrollers. An Arduino Uno R3 (#1), because of its proper size and because it has enough pins for all electrical components, was selected for this system. This microcontroller has 14 digital and 6 analog pins with multiple grounds. It also consists of voltage output pins that can be used for powering different components such as sensors, buttons, motors, and so on. As depicted in Figure 3, Arduino Uno R3 is connected to all components. It is programmed to incorporate the remote control that communicates via the HX1838 remote (#4) and the VS1838 NEC Infrared Wireless sensor module (#5). The sensor module is connected to Arduino to its digital pin 2, 3.3 V pin, and the ground. It is programmed to control the clockwise and anticlockwise rotation of the PKP Series 2-Phase Stepper Motor (#3).  
\begin{table}
\begin{tabular}{l c c} \hline \hline
**Properties** & **6061 Aluminum Alloy** & **ABS** \\ \hline Yield Strength & 276 MPa & 29.6 MPa \\ \hline Ultimate Tensile Strength & 310 MPa & 40 MPa \\ \hline Elastic Modulus & 69,000 MPa & 2000 MPa \\ \hline Poisson’s Ratio & 0.33 & 0.394 \\ \hline Mass Density & 2700 kg/m\({}^{3}\) & 1020 kg/m\({}^{3}\) \\ \hline Shear Modulus & 26,000 MPa & 318.9 MPa \\ \hline \hline \end{tabular}
\end{table}
Table 2: Material properties comparison.  
The motor is connected to the Arduino Uno R3 via the L298N Motor Driver Module (#2). The four wires coming out of the motor are identified with their colors using the description of the motor in [29]. They are connected as shown in Figure 3. Pin1, Pin2, Pin3, and Pin4 are connected to the Out1, Out2, Out3, and Out4 of the L298N module, respectively. Further, the four wires from the L298N Driver, IN1, IN2, IN3, and IN4 are connected to the four digital pins 8, 9, 10, and 11, respectively, of the Arduino board for control purposes. The motor and the controller are powered using an external power source as shown. For safety and error minimization, 3 push buttons (#6) are used to bring the program to a stop. These buttons are placed to stop motion at its extreme positions. This helps the system to eliminate the step motion error in the motor over the long run and motor and parts damage. These push buttons are connected to a digital pin, 5 V pin, and GND of Arduino with 10 k\(\Omega\) resistors (#7) in grounding.  
\begin{table}
\begin{tabular}{l c c} \hline \hline
**Electrical Components** & **Quantity** & **Component No.** \\ \hline Arduino Uno R3 & 1 & 1 \\ \hline L298N Motor Driver Module & 1 & 2 \\ \hline PKP Series 2-Phase Stepper Motor & 1 & 3 \\ \hline Remote Control Module & 1 & 4 \\ \hline HX1838 VS1838 NEC IR Receiver & 1 & 5 \\ \hline
6 mm \(\times\) 6 mm \(\times\) 5 mm Tactile Push Button & 3 & 6 \\ \hline
10 k\(\Omega\) Resistor & 3 & 7 \\ \hline \hline \end{tabular}
\end{table}
Table 3: Electronic components referring to Figure 3.  
Figure 3: Electric circuit diagram with balloon numbering as the part number from Table 3.