Automated Mobile 5DOF Pick-and-Place Robot Manipulator for Library Textbooks

In large libraries in the country, especially the public ones and in the universities, books were often left unattended on tables, giving library personnel lots of work. Either way, if the users are to put the book back on shelves, they are still more likely to arrange them randomly. Amidst the innovations in the library system, this field is yet to be further studied. With that, this paper aims to design and fabricate a prototype for a mobile robotic system. The designing process includes dimension requirements, constraints, parameter calculations, 3D modelling, and material selection which is then carried forward to simulation for its Finite Element Analysis (FEA), fabrication, and functionality test. Following the methods presented, a 5 Degrees of Freedom (DOF) robot arm was designed and modelled to carry books with a maximum 2.38 kg mass. The data indicates that the design performs adequately under its expected load. While the simulation shows a 16 % inefficiency in the functionality test, the real-world model still operates at an impressive 84 % effectiveness, demonstrating its satisfactory performance.