Emancipation of a minor in PA?

'm sixteen. I would like to be emancipated. My mom don't want me for anything more then to claim on her taxes and I don't talk to my dad often because of all the issues my mom and her side of the family have caused. I currently live with my grandmother and grandfather. My grandmother is in her late 60's and my grandfather is 71. I don't stay there much. I either stay with other relatives or friends. I hate being there for the fact that I know the only reason my grandmother has me around is to help pay her debt. My father and mother pay my grandmother child support and I don't see a penny of it for anything. I am never there long enough for any of it to go towards things I need like food electric etc. The don't spend any money on me for anything else either. I am constantly accused of things by my grandma. Like stealing her money and this that and the third. She has a very bad memory and every time something goes missing I get blamed. I would never take anything from any one without permission and even then I am hesitant to take it. I am going to be a junior and I have always done well in school even throughout the moving from home to home. I currently got employed and have a job doing small work around my boyfriends grandfathers farm and his dads trucking business. I make more then enough money to be on my own. I just need some information on how to get some help. I need to get out of my grandmothers house but foster care isn't something a person looks forward to. Can I get some answers please...