Open Access Journal

ISSN : 2456-1290 (Online)

International Journal of Engineering Research in Computer Science and Engineering (IJERCSE)

Monthly Journal for Computer Science and Engineering

Open Access Journal

International Journal of Engineering Research in Mechanical and Civil Engineering (IJERMCE)

Monthly Journal for Mechanical and Civil Engineering

ISSN : 2456-1290 (Online)

Call For Paper : Vol 11, Issue 05, May 2024
Kinematics Analysis of the Industrial Robotic Arm Mechanism

Author : Mani Sanguri 1 Saurabh Singh 2

Date of Publication :12th May 2021

Abstract: Robotic Manipulators are very powerful systems used in almost all industries today to perform different tasks much more precisely and effectively than a human can. One such robotic manipulator is the robotic arm mechanism that is heavily used in all industries, especially the manufacturing industries, due to their greater efficiencies and safer alternatives to humans. For performing the tasks, the most important consideration is getting the gripper of the robotic arm to a required position and orientation. The aim here is to perform the kinematic analysis of the robotic arm mechanism by modeling the forward and inverse kinematics of the arm mechanism. The designing of the movement flow plan and the evaluation of the DH parameter is done for calculating the desired position and orientation of the end effector. Here, the forward kinematics is easy to model, but the inverse kinematics modeling will involve the use of the traditional methods that include the DH notations, transformations, iterations, etc.

Reference :

    1. Manoel Carlos Ramon, Assembling and Controlling a Robotics Arm, SpringerLink, CA, USA
    2.  Madhiha farman, Muneera Al-Shaibah, Zoha aoaiath, Firas S. Jarrar, Design of three degrees of freedom Robotics Arm, Internation Journal of Computer applications
    3.  Groover M.P (2008), Automation, Production Systems, and Computer Integrated Manufacturing, 3rd edition [4] Kevin M. Lynch, and Frank C. Park, Modern Robotics and control, Cambridge University press
    4.  Professor Wei Zhang, Velocity kinematics and Jacobian, Ohio state University, Coloumbus, Ohio, USA [6] Robotics Dynamics Lecture notes, Robotics Lab, ETH Zurich, HS 2017
    5. Jean-pierre Merlet, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments 1991
    6.  Somchart chokchaitam, International Association of Computer Science and Information technology, 2009
    7. Zhang Ruishu, Zhang Chang, Zheng Weigang. The status and development of industrial robots, IOP Conf. Series: Materials Science and Engineering 423 (2018) 012051
    8. Linn D. Evjemo1 & Tone Gjerstad & Esten I. Grøtli & Gabor Sziebig. Trends in Smart Manufacturing: Role of Humans and Industrial Robots in Smart Factories. Collection of Robotics in Manufacturing. Current Robotics Reports (2020) 1:35–41

Recent Article