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All Journal Applied Research and Smart Technology (ARSTech)
Azlan, Norsinnira Zainul
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Automotive Engineering Computer Science & IT Engineering Materials Science & Nanotechnology Physics

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Low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications Azlan, Norsinnira Zainul; Sanni, Mubeenah Titilola; Shahdad, Ifrah
Applied Research and Smart Technology (ARSTech) Vol. 1 No. 2 (2020): Applied Research and Smart Technology (ARSTech)
Publisher : Department of Mechanical Engineering Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/arstech.v1i2.25

Abstract

This paper presents the design and development of a new low-cost pick and place anthropomorphic robotic arm for the disabled and humanoid applications. Anthropomorphic robotic arms are weapons similar in scale, appearance, and functionality to humans, and functionality. The developed robotic arm was simple, lightweight, and has four degrees of freedom (DOF) at the hand, shoulder, and elbow joints. The measurement of the link was made close to the length of the human arm. The anthropomorphic robotic arm was actuated by four DC servo motors and controlled using an Arduino UNO microcontroller board. The voice recognition unit drove the command input for the targeted object. The forward and inverse kinematics of the proposed new robotic arm has been analysed and used to program the low cost anthropomorphic robotic arm prototype to reach the desired position in the pick and place operation. This paper’s contribution is in developing the low cost, light, and straightforward weight anthropomorphic arm that can be easily attached to other applications such as a wheelchair and the kinematic study of the specific robot. The low-cost robotic arm’s capability has been tested, and the experimental results show that it can perform basic pick place tasks for the disabled and humanoid applications.
Wearable upper limb motion assist robot for eating activity Kashtwari, Uzair; Azlan, Norsinnira Zainul; Shahdad, Ifrah
Applied Research and Smart Technology (ARSTech) Vol. 1 No. 1 (2020): Applied Research and Smart Technology (ARSTech)
Publisher : Department of Mechanical Engineering Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/arstech.v1i1.28

Abstract

Many people all around the world are suffering from various types of disabilities and need to depend on others to perform activities of daily living. One of the essential daily living activities is eating. The disabled people should be able to eat their food independently at any time and place, without relying on the caregivers. This paper presents the development of a new wearable upper limb motion assist robot for helping the disabled to eat by themselves. The motion assists robot consists of two degrees of freedom (DOF) movement, focusing on the two most crucial upper limb movements in eating activity, which is the elbow flexion/extension and forearm pronation/supination. A light-weight material was used for the fabrication of the wearable motion assist robot, and Arduino was utilized as the microcontroller. The originality of the study was in terms of the design, operational sequence setting, and kinematic analysis of the wearable upper limb motion assist robot that was explicitly focusing on eating activity. The resulted prototype was portable, compact, light in weight, simple and low cost. The experimental results have proven that the proposed wearable upper limb motion assist robot for eating activity was successful in helping the users to perform the main upper extremity motions in eating. The success rate of the proposed system was 80%, and it took 6 seconds for the system to complete one feeding cycle.
Prototype development of mecanum wheels mobile robot: A review Abd Mutalib, Mohd Azri; Azlan, Norsinnira Zainul
Applied Research and Smart Technology (ARSTech) Vol. 1 No. 2 (2020): Applied Research and Smart Technology (ARSTech)
Publisher : Department of Mechanical Engineering Universitas Muhammadiyah Surakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23917/arstech.v1i2.39

Abstract

This paper provides the review and prototype development of mecanum wheels mobile robot (MWMR). Nowadays, there is a high market demand for a wheeled machine or wheeled robot for various applications. The ability to move in any direction without altering even a single wheel makes this type of wheel useful for driving, especially in a narrowed or confined space. Various styles of implementing MWMR are discussed in this paper. The kinematic derivation and dynamic modelling are also presented. Characteristically, mecanum wheels face traditional mobile application issues like jerking and slippage, which contribute to low positioning accuracy and repeatability. Besides, environmental factors like disturbance and uncertainty also contribute to these issues. To eliminate or at least reduce the effect, the control strategies in previous researches have been reviewed and are presented in this paper. Finally, a low-cost prototype of MWMR was developed as an experimental platform for future study.
Co-Authors Abd Mutalib, Mohd Azri Kashtwari, Uzair Sanni, Mubeenah Titilola Shahdad, Ifrah