Model for Color Sorting Using a Six-axis Robotic Arm

Abstract

Nowadays, the robotic arm is used in a wider variety of applications and is not limited to the industrial sector. The industrial robotic arm is the main device of the Flexible Production System (FPS), which is an automatic production system that is easy to program and customize to use with a more continuous, accurate and efficient production process. The 6-axis robotic arm model aims to study the operation of the 6-axis robotic arm of which the coding through the Arduino IDE program to control the operation of the servo motors. Other purposes included the study of the efficiency of the developed model with an error value of no more than 10 percent. The users’ satisfaction was also explored. The research tools included an experimental result recording table and a satisfaction assessment form. The research results of the design and the construction of a color sorting model with the 6-axis mechanical arm are as follows. The base of the model is made of 8 mm thick plywood, which can withstand pressure, humidity, and heat well. The belt is made of pre-assembled steel and the model is equipped with a wiper motor and a PVC conveyor belt that can withstand heat and cold well. Other properties include flexibility and resistance to scratches and destructive forces. The robot arm is made of aluminum that is heavy and strong, held together with screws. The servo motors are installed on all 6 robot axis. The efficiency of the color sorting model with the 6-axis mechanical arm has very good experimental results because the average error value is 4 percent, which does not exceed 10 percent. The satisfaction of the color sorting model with the 6-axis mechanical arm in terms of the design and structure of the color sorting model with the 6-axis mechanical arm is at a very good level, with an average value () of 4.69 and a standard deviation (S.D.) of 0.55.