Philippine E-Journals

ROBOTIC ARM WITH EXOSKELETON CONTROLLER

Francis Dennis C. Acquiat | Sylvester B. Dumagan | Kymm Alexis S. Paña | Joniel Jansen L. Tesara | Aylmer Ronnel L. Sombilla

 

Abstract:

This study aimed to create a robotic arm that can follow the movements of the human arm and carry two hundred fifty grams. The exoskeleton controller comprised of an accelerometer that controlled by the MBED microcontroller; a potentiometer which provides a variable resistance that can reads the analog value of the PIC16f877 to control the 4 DOF (degrees of freedom) and six servo motors responsible for main movement. For the device to be deemed effective, efficiency of its individual feature’s performance and as a whole was evaluated. Employed to assess the robot’s overall performance was the quantitative research method. Functionality testing and evaluation shows that the robot was effective in performing its designated task. Improvement factors are still present in order for the robot to achieve optimum performance and become a true aid for the factory workers to perform hazardous task. Thus, the researchers recommends to the aspiring researchers and departments to further conduct studies and observations for the improvement of the robotic arm with exoskeleton controller.