PharmaMatrix

Abstract

The rapid growth of pharmaceutical services has increased the demand for accurate, efficient, and reliable medication storage and dispensing systems. PharmaMatrix is an automated hardware-based solution designed to reduce human error, improve dispensing speed, and enhance inventory management. The system integrates a 4-degree-of-freedom robotic arm, dual rail mechanisms, ultrasonic sensors, and embedded controllers to automate medication insertion, retrieval, and stock monitoring. An Arduino Mega 2560 manages real-time motion control, sensor processing, and state-based operation, while an ESP32 enables wireless communication with a mobile application via Bluetooth. The system implements deterministic state machines for ADD, REQUEST, and automatic stock refill operations, ensuring safe execution and robust error handling. A local LCD and keypad interface, along with a mobile application, provides user interaction and system monitoring. Testing results demonstrate reliable dispensing, accurate inventory tracking, and automatic shelf refilling, highlighting the system’s ability to reduce manual workload and improve operational efficiency. PharmaMatrix provides a scalable and low-cost foundation for automated pharmaceutical storage systems with potential for future expansion.