Design of a 3 DoF robotic arm

Abstract

The manipulability and the dexterity of any robotic manipulators depend upon its degree of the redundancy. Serial robotic arm is very popular in industrial applications because of its simplistic designs. Serial robotic manipulators are also designed for the joint fault tolerance. The design of three degree of freedom serial robotic arm has been presented in this paper. Its mechanical structure has been developed using the CAD software. The analysis of the dynamic properties of the robotic arm has been presented. Euler-Lagrange method has been adopted to derive the complex equation of motion of the robotic arm. The analytical results have been compared with the simulations done on RoboAnalyzer <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">©</sup> software. The results were in quite agreement.