Open AccessA Versitile Method to Design a Three Fingered Robotic Arm using Cad and Matlab Technique
Author(s) -
K. S. Venkatesh,
Purushotham
Publication year - 2019
Publication title -
international journal of recent technology and engineering
Language(s) - English
Resource type - Journals
ISSN - 2277-3878
DOI - 10.35940/ijrte.d6818.118419
Subject(s) - robotic arm , grippers , kinematics , revolute joint , redundancy (engineering) , robot , arm solution , cad , computer science , degrees of freedom (physics and chemistry) , engineering , simulation , control engineering , artificial intelligence , mechanical engineering , robot kinematics , engineering drawing , mobile robot , physics , classical mechanics , quantum mechanics , operating system
The main objective of the paper is to design a versatile Robotic Arm that has the capability to mimic the motion of a snake such that work space of the robotic arm is maximized. Design is made to achieve maximum mobility of the Robotic Arm such that it can pick up things and placed in very complex scenarios. The design is able to give degrees of freedom to the robot so that it becomes more versatile. It has a kinematic redundancy, like that of a human arm that enables us to place objects in various orientations. This Robotic arm is equipped with a three fingered gripper that provides for efficient grasping. The paper also provides design details of three fingered gripper that is suitable to hold cylindrical objects such as bolts, cable connectors etc. Autodesk Fusion 360 has been used to make cad model of arm and grippers. The 3D arm and gripper are assembled with revolute joints. The robot is tested for its mobility by performing Kinematic Analysis.