Analysis of End-Effector position and orientation for 2P-3R Planer Pneumatic Robotic Arm

摘要

In order to control a Robotic arm it involves study of kinematics and dynamics. In this paper we study forward kinematics of Planer Pneumatic Robotic Arm with two prismatic and three revolute (2P-3R) joints. Forward kinematics involves computing End Effector orientation and position provided with a set of joint angles. In this paper we used Denavit Hartenberg D-H to model links and joints of the Robotic arm. Because of simplicity of design and control, reliability and safety Pneumatic robotic arm is very commonly used in industries for part handling and pick and place purpose and it is also used in laboratory for training purposes.