UIArm I: Development of a Low-Cost and Modular 4-DOF Robotic Arm for Sorting Plastic Bottles from Waste Stream

Abstract

The study presents the development of an accessible, reliable, 3D printable, low-cost, and modular 4 degrees-of-freedom robotic arm for the automated sorting of plastic bottles from the waste stream.The UIArm I robot arm was designed based on the modification of an open-source Thor Robot model using Free-CAD with the components 3D printed using PLA and PETG.The forward kinematics was obtained by Denavit-Hartenberg (DH) method, while the analytical method was used for the inverse kinematics.The electrical components include stepper motors, servo motors, motor drivers, a printed circuit board (PCB), an Arduino Mega microprocessor, a light source for illumination, and a PC with a webcam.Python was used for programming the PC and C# for the Arduino microprocessor.TensorFlow, an end-to-end open-source, machine learning platform was used to develop the object detection algorithm based on a deep neural network.The object detection model achieved an accuracy of 91% for Pepsi plastic bottles which formed the bulk of training images.Other types of plastic bottles were detected with an 85% accuracy.The study has demonstrated the viability of a locally developed robotic arm for the automated sorting of plastic bottles.