Simulation of Robot Arm for Diabetes Mellitus Patients

Abstract

Abstract Diabetes is caused by metabolic disorders. The treatment is to control blood sugar levels which can be done with non-pharmacological therapy, namely reflexology. The intensity of therapy continuously carried out will speed up the healing process of diabetes. On this basis, we simulated a robotic arm for reflexology treatment for diabetics. The robotic arm system used was five degree of freedom, which used 5 servo motors in the design. The simulation results show that σmaterial ≥ σstructure, so it can be concluded that the material used is rigid and strong to withstand the loads acting on the robot arm structure. While the magnitude of M1 servo motor torque is 2502 Nmm, M2 is 7492 Nmm, M3 is 7492 Nmm, M4 is 6934 Nmm and M5 is 4351 Nmm. In designing the robot arm, 1,2,3,4 servo motors used 8000 Nmm of torque, and 5 servo motors used 4500 Nmm of torque, so the servo motor used was safe to hold the torque on the robot arm.