Automation of a Cans Waste Sorting System Using the Ejector System

This research aims to integrate a mechanical system of cans waste sorting with the identification system in real-time which the mechanical system is designed using an ejector system. This system is made based on a five-bar mechanism of aluminum plate where the last bar that serve as end effector is connected a servo motor as a driving force. The controller of servo motor uses microcontroller arduino uno. The cans waste are sorted based on three types of cans waste. They are pure aluminum cans (type 1), aluminum cans mixture of metal (type 2) and aluminum cans mixture of hazardous substances (type 3). The testing result of automation of a cans waste sorting system is got the success rate of 92.53%.


Introduction
Today, automation of a system has been utilized by many industries for various purposes such as material handling, packaging, distributing, and sorting system.In the plantation industry, the automation of system is used to detect the level of maturity or the quality of the fruit.The level of ripeness of the fruits at the time of packaging will determine the time of delivery to an area.Therefore, the probability of fruit damaged by improper levels of maturity can be minimized.In the modern industry of solid waste processing, the automation of a system is applied in a sorting system to separate the waste based on weight, size or type.
Automation of a cans waste sorting system can be designed with various hardware components, which are controlled by a computer system.Automation of the sorting system is constructed by integrating the mechanical sorting system with a system of identification of an object in real-time.Wahab et al. (2006), Khojastehnazhand et al. (2010), Yani et al. (2013), Golmohammadi et al. (2013) and Poudarbani et al. (2015) used a pneumatic system as the end effector in building automation sorting system.However, according to Scavino et al. (2009) who built the automation of a plastic bottles sorting system, the pneumatic system is only capable of sorting 1 bottle per 600 milliseconds, while the identification speed ranging from data acquisition to classification which requires time does not exceed 150 milliseconds.Automation of a system that integrates a mechanical system with an identification system is a very complex process and it is generally designed to exploit the capabilities of the system optimally.Mechanical systems are designed to automate sorting system and will determine the performance of the device (i.e.The efficiency of sensor time and the optimization of sensor speed).According to Chikte & Ughade (2015), for automating a system, in addition to the pneumatic system which uses fluid as a driving force, can also be used ejector system that uses the motor as a driving force.In this study, the automation of cans waste sorting system is constructed using an ejector system, in which the system is designed based on a five-bar mechanism and using the aluminum plate which is connected to the servo motor as a driver, and a microcontroller Arduino Uno as a servo motor controller.

Method
In this experiment, the mechanical systems is built using ejector system that designed using a five-bar mechanism, in which the end effector serves as a sorter for three types of cans waste: 1)Pure aluminum cans mas.ccsenet (type 1), 2 is made of torque.To The ejecto ejector sys a TowerPr The force Trajectorie direction.effector by directly fro The next s drive the e will autom integration 3. Results

Forces
The design are represe of cans wa The force the force th By using t F34 = 4.24 using a To Table 1.Ta From Tabl aluminum related bin

Motion
The calcul orientation the trajecto The analys ejector sys Denavit-H ejector sys Forward kinematic calculation using the D-H was conducted to determine the coordinates (x, y, z) on the ejector system, in which the z coordinate is fixed at zero.The four initial parameters of the DH method represent the design parameters obtained by measuring the height and width of the belt conveyor and estimate the slope of the rod 3.These four parameters are a, A, D and θ.The height and the wide of belt conveyor respectively are denoted as a1 (ay) and a2 (ax), the change in the angle of the end effector (bar 4) is denoted as A, the magnitude of the translational motion at z0 is denoted as D, the angle between the the center of frame with bar 3 is denoted as θ1, and the angle between bar 3 with bar 4 is denoted as θ2.The parameters of the ejector system for n-DOF mechanism are represented in Table 2.
Table 2. Table title (this is an example of table 1) The movement of ejector system is located in the x, y, z, but for straight forward movement of bar 4 as the end effector only works in the field of x.The position x is determined by calculating the value oblique angle θ.By the same method used to calculate the initial position of the end effector, the second position (position furthest end effector) is calculated.The kinematic motion of the bar 4 in the second position is Px = -202 808 mm and Py = 375 157 mm.

Performance and Success Rate of Automation of the Sorting Systems
We have developed an automation of a cans waste sorting system by integrated a mechanical system with the identification system which the mechanical system is designed using an ejector.Performance the automation of the sorting system running in real time is obtained by testing on 100 cans waste were selected randomly.The testing is done by sorting each of the cans waste repeated 10 times with different positions.The test results showed that the average time required by the cans waste that are placed on a belt conveyor to be in front of the end effector since the belt conveyor runs was 12.06 seconds; while the average time required by the data processing program from begin the web camera capturing the cans waste image until successfully identify the cans waste was 11.47 seconds, and the time required by the end effector to push the cans waste into an exile was 0.257 seconds.This means that the time required by the system from data acquisition until successfully sorting the cans waste is 11.727 seconds, which is closed to the average time of cans waste reached the end effector, 12.061 seconds.Therefore, it can be concluded that the automated sorting system can work in real time.The test of success rate of the sorting is done by sorting each cans waste repeatedly at any position.The results show the percentage of success reached 92.53%.

Conclution
This paper proposed an ejector system as the mechanical system in building an automation of cans waste sorting system, where the system is designed using a five-bar mechanism of aluminum plates.The last bar in kinematic model of the mechanism serves as an end effector to separate the cans waste based on the types: pure aluminum cans (type 1), aluminum cans mixture 1 (a mixture of metal) and aluminum cans mixture 2 (a mixture of hazardous substances).The end effector is connected to a servo motor that using microcontroller arduino uno as controller.The test result shows that the automation of the developed sorting system iscapable of running in real time with sorting success percentage reached 92.53%. Fig Figure 4 transformation matrix between Z1 as a base frame by frame Z0 the of of the ejector system, the transformation matrix T values is obtained for first position, , From the initial position of matrix T can be obtained matrix T for second position, From the kinematic calculation using the D-H method is obtained the first position of the ejector system, Px = 394.089mm, Py = 409.136mm.

Table 3 .
Parameters D-H for End Effector in Second Position