Wireless controlled robotic arm for handling hazardous chemicals

• Main Authors: Caranda, Paolo Creas, Dela Cruz, Suzette Antoniette, Lorena, Neil John, Zabat, Juan Paolo
• Format: text
• Language: English
• Published: Animo Repository 2016
• Subjects: Robotics; Robot hands; Hazardous substances
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/9988
• Institution: De La Salle University

In the present era of fast advancing technology, various robots and machines have been made to replace manpower with more efficient and safer means. Robots and machines are mostly utilized for repetitive and dangerous tasks such as handling hazardous chemicals, bomb diffusal, and factory assembly. The research paper presents the development of a wireless controlled robotic arm aimed to be used for handling hazardous chemicals. The robotic arm moves with 6 degrees of freedom (DOF). The robotic arm itself is made of 3D printed ploy lactic acid (PLA) material and is modeled with three primary links that are connected with digital servo motor. The controller module is in the form of a glove with flex sensors and accelerometer-gyroscope sensor attached to it. A low cost microprocessor chip (MPU) integrated with micro-electromechanical system (MEMS) is used to detect human movements in x, y, and z channel. This sensor is equipped with digital motion processor (DMP) that performs calculation with the sensor readings and reduces then load for the Arduino. Filter are applied to sensor values to reduce noise in the readings due to sudden movements. The wireless communication between the glove controller and robotic arm has been implemented using ZigBee protocol interface. The system has been developed using Arduino to control sensors. XBee module, and servo motors. The outcome is the robotic arms movement is a mirror of the human movement. Different tests such as range test, transfer test, height test, lateral test, pouring test and an overall test were conducted in order to determine the viability of the arm.