Republic of the Philippines

Department of Education
Ligao City Division
Ligao National High School

Tel: (052) 485 1137 Email: lnhs.depedligaocity.net

RABBLEBOT: A Solar Powered Multipurpose RC Trash picking

robot

Elaine Leigh Apoon

Hannah Julianne Argamosa
Adriane Bonde
Drifferson Carillo
Jian Railey Galano
Carl Patrick Galvan
Mark Nicholas Lopez
Jasmine Mae Ornillo

SARAH JANE MABINI-CAMBUSA Mr. Wilmor Jake Morales

Research Adviser Adult Sponsor
 TABLE OF CONTENTS

RESEARCH PLAN…………………………………………………………………………………………….. 3
Rationale…………………………………………………………………………………………………………… 4
Research Questions……………………………………………………………………………………………. 4
Hypothesis………………………………………………………………………………………………………… 4
Engineering Goals………………………………………………………………………………………………. 4
Expected Outcomes……………………………………………………………………………………………. 5
Preperation of Materials…………………………………………………………………………………….. 5
Procedures………………………………………………………………………………………………………… 6
Data Collection and Analysis……………………………………………………………………………….. 7
Bibliography………………………………………………………………………………………………………. 8
ISEF FORMS……………………………………………………………………………………………………… 9
Student Checklist………………………………………………………………………………………………. 9
Checklist for Adult Sponsor………………………………………………………………………………… 10
Risk Assessment Form……………………………………………………………………………………….. 11
Approval Forms……………………………………………………………………………………………… 12-19
Project Data Logbook……………………………………………………………………………… 20-34
IMRAD Research Paper…………………………………………………………………………………. 36
Introduction……………………………………………………………………………………………………… 37
Materials and methods………………………………………………………………………………… 38-40
Results……………………..……………………………………………………………………………………… 41
Discussions……………………………………………………………………………………………………… 42
Conclusion……………………………………………………………………………………………………….. 43
Acknowledgement…………………………………………………………………………………………….. 44
References……………………………………………………………………………………………………… 45
Abstract………………………………………………………………………………………………………….. 46
Appendices…………………………………………………………………………………………………… 47-48

2
 Rationale
Waste management is one of the big issues globally that need serious attention. Throwing
trash anywhere and everywhere is a known habit of us humans and is one of our known flaws as
a result of people disobeying the law. Humans today are very unaware of their throwing of
wastes and trashes. Whether in alleys, sides of the road, in public places etc. According to Alicia
L. Castillo, who was mentioned in a research on solid waste management, the Philippines
produces roughly 35,580 tons of trash every day. In urban and rural areas, respectively, each
person in the nation generates 0.5kg and 0.3kg of waste per day. There is no benefit to humans at
all from the growing number of locations that are polluted with rubbish and junk.
Presently, the manual garbage collection system exists in most places where human
intervention is involved. Manual garbage collection and waste management is a good source of
employment but there are some issues associated with it, such as times when manual labor is
unavailable and concern of human safety, sanitation and health. With the advancement of
technology, researches on autonomous or semi-autonomous garbage collection through using
machines and robots have been conducted to respond to the issue of waste segregation.
According to the SESLogo Program of Nwankwo E. Linus, Okolie C. Sampson, Martins
J. Gani and Echegini S. Ngozi, in today’s world, robots have to great extent solved problems
which were very hazardous and difficult for man to achieve in its environment. Since a robot is a
computerized controlled system, this will allow us to supervise its operations with remote
controls.
According to RobotsSociety, robots are used in multiple areas, especially where they can
alleviate strenuous tasks or complete missions that are dangerous for a human to undertake.
Recent advances in robotics and AI are revolutionizing business, society and our personal lives.
Apart from being precise and consistent, robots can work in any environment, adding to their
flexibility. Robots eliminate dangerous jobs for humans because they are capable of working in
hazardous environments. They can handle lifting heavy loads, toxic substances and repetitive
tasks. This has helped companies to prevent many accidents, also saving time and money.
Nwanko E. Linus, et.al. designed a SESLogo program for mobile robot control. Their
study focused on presenting a step by step procedure for writing a control program for SES
mobile robots. Detailed explanation of APPLIC 37, a micro controller usually referred to as heart
of the robot which receives data or programs, process it and send it to the robot for execution,
were given.
Rony Roy et. al. in their study came up with the design of a smart mobile robot to detect
abnormalities in hazardous zones. Their work presented a car-like robot which carries a
microcontroller-based abnormality detection and alarming system. The mobile robot moves
along the workplace and continuously monitors the workplace.
The study of Muhammad Abhan Khan, et. Al aimed at introducing a new way in which
garbage can be collected and disposed efficiently by designing a semi-autonomous garbage

3
collector robot which can do multiple functions. The robot they designed is powered by batteries
so there is no fuel or electricity required. A similar study was conducted by Xun Dong that had
the engineering goal to construct a robot that can pick up garbage in the water and classify the
garbage into its right category. The robot was developed by attaining four critical functions:
driving under water condition, a set of gripper, color recognition and garbage classification.
Inspired by these works and researches on robots, the Researchers decided to design a
convenient device to help pick up trash and clean the environment without manual labor. It is
named as “RABBLEBOT”. It collects trash with the help of its mini claw that can grab things
with ease and articulate to what direction you need it to rotate. This robot is solar powered,
installed with solar panel attached to the battery that serves as power source. Moreover, this mini
robot is remote controlled so its function will depend on the operation of the remote control. The
input from the remote control will signal the Rabblebot what to do through a Bluetooth
connection. It also has wheels so it can smoothly travel on land towards any trash that scatters
anywhere like plastic bottles, wrappers, glass bottles, and others.

A. RESEARCH QUESTION(S)
1. What is the design of the rabblebot?
2. How does the rabblebot collect trash?
3. How much solar energy is needed to power the rabblebot?
4. How long can the Rabblebot collect trash before it runs out of solar energy?
5. How much trash can the Rabblebot collect?

B.HYPOTHESIS(ES)

Ho: The design of the rabblebot is proper and accurate that it works and functions properly to
collect trash
HA: The design of the rabblebot is not proper and accurate that it doesn’t work and function
properly to collect trash

4
 C.ENGINEERING GOALS

 To create a design of a mini trash collecting robot that can help clean the environment
while saving time and effort.
 To construct a mini trash collecting robot based on the created design.

C.EXPECTED OUTCOMES
The researchers are expected to create a proper and accurate design for a mini trash
collecting robot and construct such rabblebot based on the design. The Rabblebot will be tested
as to its design and function whether it can be used to collect trash to help clean the environment
and lessen scattered garbage found everywhere.

METHODOLOGY

A.PREPARATION OF MATERIALS
1 x R3 board
1 x Expanding Board
1 x Remote
1 x Ultrasound Module
3 x MG90S Servo
1 x Bluetooth Module
4 x Tires
3 x Line Tracking Modules
4 x Motors
1 x Acrylic A1
1 x Acrylic A2
1 x Acrylic A3
1 x Acrylic A4
1 x USB Cable
1 x Battery Case
1 x Bottom Acrylic Layer
1 x Upper Acrylic Layer
1 x Adhesive Tape
1 x AXK Plain Bearing
1 x Cylinder Screwdriver
1 x Screw bag Screwdriver

5
1 x Tutorial download card
1 x 4pinXH2.54to F Dupont Wire
1 x 3pin Servo Extension Cable
3 x 3pin F-F Dupont Wires
3 x Ties
1 x mini Screwdriver
6V – 100mA Mini Solar Panel
2 x 18650 Li-Ion Batteries
Li-Ion Battery Charger Module with protection
1V to 5V Input to 5V Output Step-up Converter (Boost Converter)
1N4007 PN Junction Diode
Switch (Push to ON and Push to OFF)
Connecting Wires

B. PROCEDURES
A. Creating the design of the rabblebot
Guided by the sample designs of robots, the researchers will create their own design of
the rabblebot. An illustration of the design will be prepared and an explanation of the functions
of the different parts and elements of the design will be formulated.
B. Constructing the rabblebot based on the design
The researchers will gather all the needed items to start the building process. First, Install
the Arduino application on your personal computer. Once that is complete we can move on to
step 2, which is to calibrate the claw to rotate. Next step is to calibrate the motor speed and the
direction of control of our mini robot.
To follow is a step that is optional, we can put a ultrasonic sensor in order for the mini
robot to have obstacle avoidance provided with a pre-made Arduino code. Next is how we can
use the app to control the mini robot to move and pickup the trash. We must first learn how can
the Bluetooth module connect with the mobile phone. The Bluetooth module has a frequency
band of 2.4GHz and has a transmission distance of about 60 meters.
After this we must download the app called
“LAFVIN_4d_Robot_Arm_Smart_Car_V1_2.apk”. Now open the app and connect the mobile
phone to the robot using the dedicated Bluetooth button on the top right corner of the app. Now
you are all set, you can move the robot forward, backward, left, right and you can even control
the claw to pickup things and to move it around.
The last step is connecting a solar panel to our battery pack so that it can be charged by
solar energy. First take the battery charger module and at its side. It has two connections named
IN+ and IN-. You must take the red wire from the solar panel and connect it to the anode of the
diode. Once this step is done, next is to connect the cathode of the diode to the IN+ terminal of
the module and directly connect the black wire of the solar panel to the IN- terminal. On the

6
outside of the battery charging module it has 4 connections. Connect the common positive
terminal of the batteries to b+ and also connect the common negative terminal of the batteries to
the b-.

C. Revising the Design and Reconstructing the Rabblebot

In case of failure after testing, revision of the design and reconstructing the rabblebot will
be done until the researchers come up with the proper design and are able to construct a
functioning trash collecting mini robot.

C. Data Collection and Analysis

This study shall use this table to collect and analyze data based on three trials of testing
functionality of the rabblebot.
Research Questions Trial 1 Trial 2 Trial 3
What is the design of the rabblebot?
How does the rabblebot collect trash?
How much solar energy is needed to power the
rabblebot?
How long can the Rabblebot collect trash before it runs
out of solar energy?

How much trash can the Rabblebot collect?

To determine which of the designs is more functional, the researchers will use the percentile rank
to classify the data collected. Observations and other qualitative data on the characteristics of the
rabblebot will also be noted.

SAMPLE SKETCH OF THE MINI ROBOT:

7
 BIBLIOGRAPHY

Dong, Xun (2020).Research and Design of Marine Trash Classification Robot Based on Color
Recognition.IOP Publishing. Oregon Episcopal School, USA.

Muhammad, Abhan, Khan. Garbage Collector Robot. Balochistan University of Information

Technology, Engineering and Management.

Nwankwo E. Linus., et.al. (2015) Design of a SESLogo Program for Mobile Robot Control.
International Journal of Scientific & Engineering Research. Volume 6

Rony Roy, et.al.(2016) A Smart Mobile Robot to Detect Abnormalities in Hazardous Zones
. UESC
Derraik, J.G. (2002). The pollution of the marine environment by plastic debri s:a
review.Matine Pollution Bulletin.

Jean-Franc,ois Lalonde, et.al. Mobie Robot Programming in Education. The Robotics Institute
Carnegie Mellon University Pittsburgh, USA.

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46
 Republic of the Philippines
Department of Education
Ligao City Division
Ligao National High School

Tel: (052) 485 1137 Email: lnhs.depedligaocity.net

RABBLEBOT: A Solar Powered Multipurpose RC Trash picking

robot

Elaine Leigh Apoon

Hannah Julianne Argamosa
Adriane Bonde
Drifferson Carillo
Jian Railey Galano
Carl Patrick Galvan
Mark Nicholas Lopez
Jasmine Mae Ornillo

SARAH JANE MABINI-CAMBUSA Mr. Wilmor Jake Morales

Research Adviser Adult Sponsor

47
Introduction

Waste management is one of the major global issues and needs serious
attention. Throwing garbage everywhere and everywhere is a well-known human habit
and one of the well-known mistakes that people make because they don't follow the law.
Modern people have little awareness of throwing away garbage and trash. Alleys,
roadsides, public squares, etc. According to Alicia L. Castillo, mentioned in a study on
waste management, the Philippines produces about 35,580 tons of garbage every day.
Urban and rural areas generate 0.5 kg and 0.3 kg of waste per capita per day,
respectively. There is no benefit for humans to have more and more places polluted
with garbage and trash. Today, manual garbage collection systems are in place in most
places that require human intervention. Manual garbage collection and waste disposal
is a good source of employment, but it comes with some problems. A time when
physical labor is not possible and people's safety, hygiene and health are a concern.
With the advancement of technology, autonomous or semi-autonomous garbage
collection using machines and robots is being studied to solve the problem of garbage
separation.

According to the RobotsSociety, robots are used in many fields, especially those
that facilitate arduous tasks or perform missions that are dangerous to humans. Recent
advances in robotics and AI are revolutionizing business, society, and our lives. Robots
are not only accurate and consistent, they can operate in any environment, giving them
greater flexibility. Robots can work in hazardous environments, eliminating the need for
humans to do dangerous jobs. It can lift heavy loads, toxic materials and repetitive
tasks. This saves companies time and money while preventing many accidents. 
You can use the tiny claws to collect debris and grab things easily. It can be moved in
any direction of rotation. The robot runs on solar power and has a solar panel attached
to a battery that acts as a power source. Also, this mini robot is remote controlled, so its
function depends on the operation of the remote control. Input from the remote tells her
Rabblebot what to do over the Bluetooth connection. It also has wheels so you can
easily move it over land and dump litter everywhere: plastic bottles, packaging, glass
bottles, etc. However, mini robots stop working when wet, so they cannot run in water
bodies such as pools, lakes, rivers, puddles, and beaches. Mini-robots don't have trash
cans, instead mini-robots throw trash directly into them. 

48
Materials and Methods

Assembling the Prototype Robot

We must first get the 4 motors that will power the robots tires and attach them via the screws at
the bottom of the base plate of the robot. Know we put the 4 tires on the sides of the motor
corresponding to its orientation.

Motor- An electric motor is a device used to convert electricity into mechanical

energy, opposite to an electric generator.
Tires- is a ring-shaped component that surrounds a wheel’s rim to transfer a vehicles
load from the axle through the wheel to the ground and provide traction on the
surface over which the wheel travels.

Then we must attach the servo and use the 16mm screws and self locking nuts to secure
the servo in the upper middle part of the robot. Then we must put the AXK Plain Bearings in
the middle of the servo. Know we must screw in the parts from the steering gear that was
included with the servo so that it will be horizontally straight when looking straight down.

MG90s Servo- is a 13g servo motor that is great for application in low-cost robotics
And automation.
AXK Plain Bearings- Needle roller and cage thrust assemblies are designed to
accommodate heavy axial loads and peak loads in one direction.

The next step is to attach one of the 4 arms of the robot to the lower right side hole
And use a 12mm screw with 2 plastic gaskets and a self locking nut.
Then attach the second arm in the inner side and place a 12mm screw with 1 plastic
gasket and a self locking nut. Now attach the third arm inside parallel to the two arms that was
attached. Use a 12mm screw with 1 plastic gasket and a self locking nut

Now at the end of the two arms on the right side attach the two arms to the plate
using a 16mm screw, 2 plastic gaskets and a self locking nut while the other arm uses a 12mm
screw and 1 plastic gasket and a self locking nut.

After assembling the arms, next is to put the second servo into the bottom middle of the
4 arms using two 12mm screws and 2 nuts. Attach the part from the steering gear to the last
arm of the 4 arms and screw it in place. Then place it on the gears of the servo parallel to the
arms of the robot.Now secure both arms to the base plate of the third servo with a 12mm screw
1 plastic
gasket and a self locking nut while the other arm uses a 16mm screw, two plastic gaskets and
a self locking nut.

Lastly, for the third servo to be installed we must screw in the mount for the base plate of the
servo with two 12mm screws and two nuts. Then screw in the two copper cylinders with the
6mm screw, that will serve as the mount to the claw that will be installed. Then put the arm into

49
the gear of the servo then screw it in. Attach the two claws to its base and screw it in with the
given 1omm screw and 2 self lock nuts. Lastly screw the gear arm to one of the claws with a
16mm screw, 2 plastic gaskets in between and a self lock nut on top. Then screw it in the base
plate that is connected to the arms.
Next is we attach the R3 arduino board and the expanding board to the base plate of the robot
using 3, 10mm copper cylinders and 3, 6mm screws.

Coding and inputting commands to the Arduino Board

It was easy to copy and modify arduino codes that were found online and were free. This made
coding way easier and less of a hassle. I went to the products website and found the codes that
were necessary to perform specific tasks it was given. First we had to download the application
Arduino IDE. After you download and install the application, go to lafvin’s website and search for
the tutorials and you will find the codes and files you need to compile to your arduino board.

Soldering of the Solar Panel to the Battery holder

First we took the battery holder that holds two 18650 batteries, then determined which of the
them was positive and negative. Next we got the innards of a 18650 dual charger then
determined how to wire them together as shown at the diagram below:

50
Data Gathering

BLUETOOTH MODULE
Movement Distance in Feet (ft) Pass or Fail
Away and towards the user 2ft passed
““ 5ft passed
““ 8ft passed
““ 12ft passed
ELECTRIC POWER
Type of power Time (hr) Charging or dead battery
Solar powered battery 1hr Charging
““ 2hr Charging
““ 3hr Charging
““ 4hr Charging

Type of power Time (hr) Powered on or powered

off
Battery only 1hr Powered on
““ 2hr Powered on
““ 3hr Powered off
““ 4hr Powered off
MOBILITY
Type of terrain Mobility Can traverse or not
Tiles Has a smooth start and Can traverse
smooth actions of the robot
were made.
Concrete Somewhat bumpy but also Can traverse
stable.
Dirt roads Can be slow at times but it can Can traverse
traverse dirt roads.
Rocky roads It cannot traverse rocky roads, Cannot traverse
keeps getting stuck on little
debris.

51
Results

Rabblebot's first draft, proposed by its leader at the time, used a trap door to hold
trash, and was powered by energy converted from burning plastic. We discussed the
matter with our adult sponsor and decided to change the design and power supply as
burning plastic is bad for the environment and therefore not justified. We chose to use
batteries and solar panels so that the power source is green and has less negative
impact on the environment. We also modified the design of Rabblebot as we found an
alternative robot that could be used and modified to meet our requirements and save
time and effort, especially as far as manufacturing costs are concerned. As a team, we
decided that Rabblebot should be a remote-controlled robot with claws to help pick up
junk. It is connected via Bluetooth and also has an application that allows you to control
the robot from your smartphone. We measured the solar energy required for Rabblebot
via solar panels and batteries. A solar panel consumes about 5 volts of power, so it can
easily provide the power needed to charge the battery and keep it from running out.
While the battery powers the expansion board and the Arduino board, it is also charged
via the solar panel. The Bluetooth module has no signal loss at distances of 2 feet to 12
feet (Table 1). There was no significant signal loss that altered the robot's path as it
moved closer or farther from the user. In addition, a solar panel connected to a battery
charger allowed it to power two 18650 batteries with sunlight hitting the panel (Table 2).
But using only two 18650 batteries and no solar panel, it took only two hours to shut
down. We also tested mobility on different types of terrain to find out which terrain suits
the robot best. In terms of stability and smoothness, tile and concrete performed best. It
cannot be driven on rocky roads or "off-road" terrain.

52
Discussion
The results of this study suggest that RABBLEBOT does not need to be
connected via a charger, is easy to operate and can be maintained for a long time. This
claim is supported by the facts of the data we have collected. Surprisingly, we didn't
expect it to reach the 2 hour mark in the second table of 'ELECTRIC POWER'.
However, when I connected the battery holder to the solar panel, the results were
consistent. We didn't expect the RABBLEBOT to be able to traverse rocky roads, but
this was the robot's downside. Based on the data obtained, this meant that
RABBLEBOT was effectively collecting junk. Compared to manual garbage picking by
garbage collectors, we believe this innovation could lead to further improvements as it
can be implemented on a larger scale, with autonomous robots sorting garbage into
their respective class. The prototype aims to prove that such innovations can help
reduce the spread of common diseases caused by foreign objects in the trash. But that
doesn't mean it's without its drawbacks. This could mean, say, unemployment for those
who can't afford high-paying jobs, but in this world where all change is permanent, the
idea is perhaps the future of garbage collecting. We believe it could be the beginning of
something that could be possibly be a brand new way in collecting garbage. The robot
is intended to be a land-based alternative to more popular garbage-collecting robots,
such as those in the ocean. This product can be scaled up to accommodate larger items
such as garbage bags and large trash cans. 

53
Conclusion
The RABBLEBOT, a remote controlled trash collecting robot, will be able to make
collecting trash easier for people. By being a device that is remote controlled, people
don’t have to go through all the trouble collecting trash by themselves. Since waste
management is one of the largest issues globally, us researchers decided to make a
device to help with this issue, and soon, this mini robot will be able to help by doing
things that are too hard, too dangerous, and even impossible for people when it comes
to collecting trash.

In the meantime, our main focus is to prove the robot's potential by putting the
most important parts together such as making it move into different locations, the trash
collecting system, and the energy system that charges itself through solar power. The
next possible goal is to make it automated like moving and avoiding obstacles and
segregating on its own. The robot as for now doesn't have much features that will help
people the most, but as time goes by, improvements will be made, say, turning it into an
autonomous robot and making it a larger and more powerful so it can pick up larger
amounts of trash. Moreover, this robot can also help the elderly in various activities and
the claw can be easily be modified and can be turned into various designs in order to fit
the needs of the user.

54
Acknowledgements
We encountered several individuals who made diverse contributions to our field
of study while bringing our research to its final shape, and they are deserving of a special
thank you. We take great delight in expressing our gratitude to everyone of them.

We want to thank God first and foremost for enabling us to successfully

accomplish this research. We would like to express our sincere appreciation and
gratitude to our research adviser, Mrs. Sarah Jane Mabini-Cambusa, and to our adult
sponsor, Mr. Jake Morales, for their invaluable encouragement, instructions,
suggestions, and support of this research. They also provided us with extraordinary
experiences while we were working on the project. Above all, we want to thank our
principal, Mrs. Jessica U. Sayson, for letting us continue our research proposal and for
making research-related ideas.

Additionally, we would like to thank our parents for their generosity, help, and
cooperation in allowing us to complete our research. Last but not least, we appreciate
ourselves for offering our best efforts, supporting one another, and cooperation we have
shown.

55
References
Dong, Xun (2020).Research and Design of Marine Trash Classification Robot Based on Color
Recognition.IOP Publishing. Oregon Episcopal School, USA.

Muhammad, Abhan, Khan. Garbage Collector Robot. Balochistan University of Information

Technology, Engineering and Management.

Nwankwo E. Linus., et.al. (2015) Design of a SESLogo Program for Mobile Robot Control.
International Journal of Scientific & Engineering Research. Volume 6

Rony Roy, et.al.(2016) A Smart Mobile Robot to Detect Abnormalities in Hazardous Zones
. UESC
Derraik, J.G. (2002). The pollution of the marine environment by plastic debri s:a
review.Matine Pollution Bulletin.

Jean-Franc,ois Lalonde, et.al. Mobie Robot Programming in Education. The Robotics Institute
Carnegie Mellon University Pittsburgh, USA.

56
Abstract

Inspired by robotics research, we researchers decided to create a practical

device that would help pick up trash and clean up the environment without the use of
human power. Its name is "RABBLEBOT". Small claws make it easy to pick up small
debris and grab trash. It can be moved in any direction of rotation. This robot runs on
solar energy and has a solar panel connected to a battery that acts as a power source.
Also, this mini robot is remote controlled, so its function depends on the operation of the
remote control. Input from the remote tells the RABBLEBOT what to do over the
Bluetooth connection. It even has wheels so you can easily move it over land and throw
away trash like plastic bottles and candy wrappers wherever you are. The goal of this
research is to develop a mini-robot that can collect garbage to help clean up the
environment. We found that this mini-robot could not traverse rocky terrain and run on
batteries for long periods of time. This means the RABBLEBOT can effectively pick up
debris and traverse clean and slightly uneven terrain. Equipped with a solar panel, it can
operate for a long time. We recommend improving the design to make it easier to pick
up trash. It also has threaded wheels to help you get over rough terrain. Also, the first
robot design proved unfeasible at the time, so we decided to go with a robot with claws
that could easily pick up trash. This means that not only will this innovation save you
time and effort, but it will also protect you from the potential spread of diseases borne by
the garbage collected. Future research could include enlarging the robot to pick up
more trash, or designing it to be autonomous and not require a human to control it. The
solar panel was also sufficient to supply the robot with the necessary energy, and the
battery never ran out during the work. It also means that people with garbage picking
jobs could face job shortages as the robots are innovated and become bigger and
smarter.  

57
Appendices

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