Design, fabrication, kinematic analysis and control of a 3-DOF serial manipulator

Abstract

Manipulators have become a daily life product poised to become the next generation intelligent systems. Broadly classified by links, there are serial and parallel manipulators. Lots of analysis and work has been done on both classes of manipulators. Serial manipulators are simpler and easier to control, and are also highly important in industrial activities. This paper gives a detailed and step-by-step approach for each item, namely design, kinematic analysis, fabrication, and control of a 3-DOF serial manipulator. The paper also discusses about motor selection and Arduino programming for control of the 3-DOF robot thus providing a single platform to know every essential thing to fabricate and control a serial robot which is very rare to find elsewhere.