MODELLING OF ROBOTIC MANIPULATOR ARM

摘要

Kinematic modelling is an important section of robotic technology.The method was used for three link arm manipulator. The kinematic modelling of the three link arm manipulator with end effector was carried out. In this paper D-H matrix is used to solve kinematic equations of robot. The dynamic forces are calculated for the maximum stretch condition using multi body dynamics analysis. The results validated using the software analysis andthe mathematical formulation.