Embedded Wearable Robotic Arm in Palm Oil Industry

Low, Wee Kiat (2018) Embedded Wearable Robotic Arm in Palm Oil Industry. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

Exoskeleton is a robotic arm that assists muscle movement. Exoskeleton robotic arm is a power assisting unit that design to increase the human limited strength. An embedded exoskeleton arm is a wearable mobile machine that provide support for limb movement by increase the strength. In this thesis, the limited human strength to carry the heavy palm fruit issues in the palm oil industry had been raised. A solution of developing an embedded wearable robotic arm is proposed to assist in carry weight. The robotic arm serves as an exoskeleton arm power assisting unit to enhance the human strength in doing work. In order to produce a higher quality of work, the previous research on the exoskeleton arm power assist unit use as reference to continue the work. The theory, techniques and solution from the previous work had been study and summarize in order to come out with a precise research without repetition. To develop the wearable robotic arm, force sensitive resistor and distance sensor are implement to the arm as a main parameter to control the motion of the arm in this research. Force sensitive resistor with control the direction of the motor and distance sensor will continuously reading the changes of the distance between arms which represented changes of arm lifting angle. A linear actuator is then use as an actuation system to move the arm upwards and downwards. A back support had been build and attach together with the exoskeleton arm to support the weight. By going through the experiment, the relationship between motor torque and arm lifting angle had been verified. The motor torque provide is represented by the motor speed control, and the arm lifting angle is represent by the changes of the distance between arms. The nearer the distance between arms, the higher the motor speed. In the end of the result, an exoskeleton arm that built able to increase the strength of human and assist them in daily activity. The applied force by the user when lifting up an object had been decrease by considering the changes of the arm lifting angle. The efficiency of the lifting motion for a low power exoskeleton had been increased.