Intelligent Bio-mimetic Raking System: Design of a Load-responsive, Bluetooth-enabled Waste Collection Robot

Abstract

This study presents the design and implementation of a bio-mimetic robotic arm system for autonomous lawn maintenance, inspired by conventional rake mechanics. The rake head, configured with tines at a 90° angle to the shaft, ensures efficient engagement with debris. Using ANSYS 3D modelling, the system underwent rigorous dimensional optimisation and stress analysis before fabrication. The robotic arm comprises five integrated subsystems: rake head, servomotor, tension cable, lawn tractor interface, and control electronics. The rake head is mounted via an adjustable-angle connector secured with M13 bolts, while the arm attachment is anchored to the tractor’s reinforced frontal frame using M10 bolts. A servomotor, bonded with vibration-resistant adhesive, drives angular displacement through a 1.5 mm tension cable, enabling precise lifting and lowering of the rake head. Torque calculations, based on gravitational force and radial distance, validate the mechanical dynamics of the system, with a design torque of 78.4 kg-cm. Control is achieved via an Arduino Nano-based system, integrating Bluetooth communication, single-channel relays, and a mobile application interface for wireless operation. Mobility is provided by a custom lawn tractor chassis powered by dual wiper shaft motors and four size 8 tires, ensuring terrain adaptability. The tractor also houses the control electronics and a detachable waste compartment for debris collection. This modular, programmable architecture supports real-time responsiveness and autonomous functionality, offering a scalable solution for residential and commercial lawn care. The system’s integration of mechanical precision, wireless control, and mobility establishes a robust platform for intelligent environmental maintenance.