Design & Kinematic Analysis of an Articulated Robotic Manipulator

Abstract

This paper describes the design, fabrication and analysis a five axes articulated robotic manipulator. The current work is undertaken by considering various commercially available robotic kits to design and fabricate a five degree of freedom (D.O.F) arm. Forward kinematic model has been presented in order to determine the end effector’s position and orientation. Although this work is still in primary level, this analysis is useful for path tracking of an industrial manipulator with ‘pick-and-place’ application. Based on this analysis, a researcher can develop path tracking behaviour of an end effector in complicated work space.