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Development of a low-cost teleoperated and semi-autonomous robotic arm (Megat Satria Zainuddin Yaacob) Figure 4 shows the prototype of the teaching pendant using an ice cream stick. The prototype consists of three axes, each joint connected to a potentiometer for the actuator. The gripper of the teaching pendant is connected to a potentiometer. Meanwhile, Figure 5 shows the prototype robotic arm based on the Solidworks design. The robot arm consists of three axes and a gripper. The robotic arm actuator used a servomotor, and the robotic arm body was developed using 3D printing. All actuators can rotate up to 180°, and the gripper can grip and ungrip.

Figure 4 Development of a low-cost teleoperated and semi-autonomous robotic arm (Megat Satria Zainuddin Yaacob) Figure 4 shows the prototype of the teaching pendant using an ice cream stick. The prototype consists of three axes, each joint connected to a potentiometer for the actuator. The gripper of the teaching pendant is connected to a potentiometer. Meanwhile, Figure 5 shows the prototype robotic arm based on the Solidworks design. The robot arm consists of three axes and a gripper. The robotic arm actuator used a servomotor, and the robotic arm body was developed using 3D printing. All actuators can rotate up to 180°, and the gripper can grip and ungrip.

Related Figures (13)

Figure 1. Project development based on Arduino Uno robot arm, and the pin signal was connected to the digital output pin 5. Digital output pin 10 was connected to the shoulder of the robot arm. Lastly, the rotating motor acts as the base of the robot arm, and the signal is connected to the digital output pin 11. The digital input 6 port is connected to a store/play switch and will be connected to a resistor. The resistor will reduce the amount of current flow to the switch. The store/play switch will record the steps made in manual operation to repeat it. Meanwhile, the digital output port 4 was connected to a pause switch to stop the whole system. The external adapter 5V was used to ensure that the amount of current and voltage was constantly supplied to smoothen the movement of the servo motor. Table 1 shows the number and function of each component to run the project.
Figure 1. Project development based on Arduino Uno robot arm, and the pin signal was connected to the digital output pin 5. Digital output pin 10 was connected to the shoulder of the robot arm. Lastly, the rotating motor acts as the base of the robot arm, and the signal is connected to the digital output pin 11. The digital input 6 port is connected to a store/play switch and will be connected to a resistor. The resistor will reduce the amount of current flow to the switch. The store/play switch will record the steps made in manual operation to repeat it. Meanwhile, the digital output port 4 was connected to a pause switch to stop the whole system. The external adapter 5V was used to ensure that the amount of current and voltage was constantly supplied to smoothen the movement of the servo motor. Table 1 shows the number and function of each component to run the project.
Indonesian J Elec Eng & Comp Sci, Vol. 27, No. 3, September 2022: 1338-1346
Indonesian J Elec Eng & Comp Sci, Vol. 27, No. 3, September 2022: 1338-1346
Figure 2. Circuit diagram
Figure 2. Circuit diagram
Figure 3. Development of a robotic arm using solidworks (a) base, (b) shoulder, (c) hand, and (d) gripper limb
Figure 3. Development of a robotic arm using solidworks (a) base, (b) shoulder, (c) hand, and (d) gripper limb
Figure 5. Prototype of the robotic arm
Figure 5. Prototype of the robotic arm
Indonesian J Elec Eng & Comp Sci, Vol. 27, No. 3, September 2022: 1338-1346
Indonesian J Elec Eng & Comp Sci, Vol. 27, No. 3, September 2022: 1338-1346
Figure 6. Accuracy in writing (a) reference, (b) first trial, (c) second trial, and (d) third trial
Figure 6. Accuracy in writing (a) reference, (b) first trial, (c) second trial, and (d) third trial
Figure 7. The flow of the pick-and-place process Table 4 shows the results of the success and failure rate of the pick-and-place application. Although the robot arm has some problems, the success rate is more than 70% and the failure rate is about 23%. For a one-minute trial, the success rate is 100%; meanwhile, in two minutes, the success rate is 83% and the rate of success in three minutes is 77%.
Figure 7. The flow of the pick-and-place process Table 4 shows the results of the success and failure rate of the pick-and-place application. Although the robot arm has some problems, the success rate is more than 70% and the failure rate is about 23%. For a one-minute trial, the success rate is 100%; meanwhile, in two minutes, the success rate is 83% and the rate of success in three minutes is 77%.
Table 5. Maximum and minimum angle of rotation Table 6. Reading of current and voltage on the potentiometer
Table 5. Maximum and minimum angle of rotation Table 6. Reading of current and voltage on the potentiometer
Table 7. Reading of current and voltage in the servomotor
Table 7. Reading of current and voltage in the servomotor
3.6. Gripper performance
3.6. Gripper performance
4. CONCLUSION
4. CONCLUSION
BIOGRAPHIES OF AUTHORS
BIOGRAPHIES OF AUTHORS
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Computer ScienceRobotic ArmRobotic Arms
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