mechaXY: Bluetooth-Controlled XY Precision Stage

Overview

mechaXY is a Bluetooth-controlled XY precision stage built using stepper motors and an ESP32 microcontroller. Users send position commands from a custom Android app, and the stage responds by precisely actuating two axes of motion. Designed as part of ME6102 (Design of Mechatronic Systems) at IIT Bombay.

Developed by Aaron John Sabu and Radhik Rammohan in 2019.

Features

• Wireless XY motion via Bluetooth
• ESP32-based control firmware
• Android app built with MIT App Inventor
• Stepper motor drivers with directional control
• Perfboard prototype with full schematic (Fritzing)
• Demo videos of full-stage operation

Directory Structure

.
├── app/               # Android app build + BLE extension
│   ├── controller.aia
│   ├── controller_API_26.apk
│   ├── controller_API_28.apk
│   └── ble_extension/
│       └── edu.mit.appinventor.ble.aix
│
├── firmware/          # ESP32 firmware (Arduino-style)
│   └── main.ino
│
├── hardware/          # Circuit and mechanical design
│   ├── board/
│   │   └── board.fzz
│   ├── flowchart/
│   │   └── flowchart.rap
│   └── images/
│       ├── electrical.jpg
│       └── mechanical.jpg
│
├── results/           # Demos of system in action
│   └── demos/
│       ├── final_demo.mp4
│       └── stepper_motors.mp4
│
├── LICENSE
└── README.md

Demo

Watch demo videos in results/demos.

Hardware Overview

• Microcontroller: ESP32 Dev Module
• Motor Drivers: A4988 / DRV8825
• Motors: Bipolar Stepper Motors (e.g. NEMA 17)
• Power: 12V DC Supply
• Control: App Inventor BLE interface
• Mechanical: Custom-built linear motion guides

Installation

1. Flash Firmware

Open firmware/main.ino in the Arduino IDE or PlatformIO. Select ESP32 Dev Module, and upload to your board.

2. Install Android App

• Option 1: Import app/controller.aia into MIT App Inventor
• Option 2: Install APK directly from app/controller_API_26.apk or app/controller_API_28.apk depending on your Android version

Authors

• Aaron John Sabu
• Radhik Rammohan

Course project for ME6102 – Design of Mechatronic Systems Indian Institute of Technology, Bombay

License

This project is licensed under the MIT License. See LICENSE for details.