DESIGN AND KINEMATIC ANALYSIS OF A RRPR ROBOT ARM

Abstract

In this study, kinematic and design analysis were performed of a four degrees of freedom robot arm with Denavit-Hartenberg notation. This robot arm can be programmed for many purposes. For example, this purpose could be locating the right places of books in libraries. Finding a book may be hard because of the wrong placement by visitors. It is clear that a robotic system is a need for reducing the manpower and providing high accuracy in many applications. The difference of this robot arm is one of the joints is prismatic joint instead of revolute joint. Owing to the linear motion of the joint, positioning error will be reduced and also robot arm will be able to approach from a safer distance to prevent from accidents. Design and analysis were performed on MATLAB Simulink.