Design and Implementation of a Robotic Arm Prototype for a Streamlined Small Chocolate Packaging Process

Abstract

This report presents the development of a robotic arm for the efficient packaging of chocolates in a small-scale process. The robotic arm has a PRR (prismatic–rotational–rotational) configuration and uses a universal vacuum grip (UVG) to manipulate the chocolates with precision. Various materials and components were used, such as 3D-printed PLA parts for the mechanical elements and flexible TPU bands for optimal movement control. In terms of electronics, NEMA motors, an Arduino board, and a CNC interface were used for the precise control of the motors. The programming was conducted in Python and a graphical user interface (GUI) was created to manage the sequence of movements of the robotic arm. Key parameters, such as the accuracy in the placement of the chocolates, the grip strength, and the shape recovery ability were evaluated. The results demonstrate the successful integration of the robotic arm in the packaging process, achieving an efficient and consistent placement of the chocolates in the plastic trays. This project highlights the importance and potential of automation in the food packaging industry, by improving productivity, reducing human error, and ensuring packaging quality. The knowledge and results obtained in this project contribute to the field of robotics.

Keywords

• PRR robot
• UVG
• chocolate packaging
• process automation