Additive Manufacturing of a 6 DoF Arm for Mobile Service Robotic Applications

This paper presents the design, manufacturing, and experimental validation of a low-cost 6 Degree of Freedom (DOF) robotic arm integrated with a wheeled platform for pick and place tasks within a home environment. Simulations using Robotic operating system (ROS) is a good option for navigation of the robot. The path planning, object detection and collision avoidance in the ROS gives a good result. The user can connect to the robot using Alexa, an IoT based voice assistant so that it can be controlled from anywhere within the premises using internet. The proposed robotic system aims to enhance household automation and improve the efficiency of daily tasks through autonomous manipulation and mobility. This study details the design considerations, 3D printing-based manufacturing process, and performance evaluation using experimental tests and analysis. The results demonstrate the capabilities and potential applications as service robot in homes, restaurants, and hospitals.