Paper Title :Design, Kinematics and Workspace Analysis of Four Links Articulated Robotic Manipulator
Author :Mon Mon Thae, Su Yadanar, Aung Myat San
Article Citation :Mon Mon Thae ,Su Yadanar ,Aung Myat San ,
(2024 ) " Design, Kinematics and Workspace Analysis of Four Links Articulated Robotic Manipulator " ,
International Journal of Mechanical and Production Engineering (IJMPE) ,
pp. 9-17,
Volume-12,Issue-10
Abstract : The design and kinematics modelling analysis of four links articulated robotic manipulator to carry 1kg payload is
presented in this paper. The kinematic model of four links articulated robotic manipulator is built by the method of
Denavit-Hartenberg (DH). The DH parameters are used to determine the position and orientation of the end effector for
forward kinematic analysis. The algebraic method is used to solve the inverse kinematics problem. This design is constructed
by using SolidWorks. Simulation results for the kinematic model using the MATLAB program based on the DH convention
were presented. The reachable workspace of this manipulator is presented in this paper. The forward and inverse kinematics
are analyzed by using Robo Analyzer and MATLAB. The results of position and orientation of four links articulated robotic
manipulator are compared with Robo Analyzer and MATLAB.
Keywords - Manipulator Design, Fours links articulated robotic manipulator, DH Parameter, Forward and Inverse
Kinematics, Robotic Toolbox, SolidWorks
Type : Research paper
Published : Volume-12,Issue-10
Copyright: © Institute of Research and Journals
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Published on 2025-01-23 |
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