DESIGN AND IMPLEMENTATION OF ROBOTIC ARM ON INTERNET OF THINGS BASED BUILDING GLASS CLEANING DRONES

Abstract

This type of non-mobile robot is a revolute type robot with each being base, shoulder, elbow and gripper. Arm robots at the writing of this report are examples of ideas and ideas from the implementation of arm robot technology. The robotic arm angle configuration is obtained through a kinematic inverse method approach and verified through real-time robotic arm testing. The angle parameter is obtained with a value with a set-up value of θ1=0° ; θ2=180° ; θ3= 0°, spray with value θ1=0° ; θ2=150°-90° ; θ3= 0°, clean with a value of θ1=150° ; θ2=150° ; θ3= 50°, set-back with value θ1=10° ; θ2=160° ; θ3= 40°. Analysis of current consumption and voltage consumption required by arm robotic is carried out with 2 types of state samples and with the realization of 6 repetitions of each robotic arm work process shows results when not regarding the implementation object. When the maximum current is set-up 0.82 ampere, clean 0.49 ampere, spray 0.70 ampere, set back 1.25 ampere. The average minimum current obtained is set-up 0.59 ampere, clean 0.34 ampere, spray 0.36 ampere, set back 025 ampere. Medium when the average current on the stay state before starting the work process from start set-up, clean, spray, up to the set back is 0.21 amper, and the required voltage consumption reaches 1.1 volts dc. when it comes to the maximum current implementation object i.e. set-up 0.71 ampere, clean 0.39 ampere, spray 0.77 ampere, set back 0.91 ampere, then in the state when the minimum current is obtained the result is a set-up of 0.57 ampere, clean 0.20 ampere, spray 0.36 ampere, set back 0.20 ampere. Medium when the average current on the stay state before starting the work process from start set-up, clean, spray, up to the set back is 0.21 ampere, and with voltage consumption that reaches 0.6 volts. Keywords: Arm Robotic, Implementation, Robotic Kinematics, Arus Consumption and Voltage