Design and development of an anthropomorphic robotic arm for educational purposes

Abstract

This paper presents the design and construction of an anthropomorphic robotic arm for educational purposes. The human arm is a complex structure comprising three different joints, each with unique degrees of freedom. Each articulation requires a different solution allowing us to include different actuators, using different sensing techniques and control approaches. Also, the positioning of the hand with a defined orientation requires solving an inverse kinematic system. This paper focuses on the design, construction and open loop control of the arm. The use of these different actuators will allow students to experiment with the control techniques of each of them while comparing the movements of the robotic arm with their own.