Kinematic Modeling and Hardware Development of 5-DoF Robot Manipulator

Abstract

This paper presents a 5-DoF articulated robot manipulator and proposes a strategy for solving its inverse kinematics. The Denavit – Hartenberg (D-H) parameterization has been used to model the kinematics of the manipulator. As degree of freedom of manipulator increases, the geometrical solution for inverse kinematics becomes difficult; hence an analytical method for the same is presented. Novelty in the method presented is that no approximations of trigonometric functions are used resulting in a theoretical positional accuracy of 10-10mm of the end-effector. The articulated robotic manipulator developed makes use of integrated actuators and rapid prototyping technology enabling easy replication for educational purposes. The robot arm has been used for manipulation tasks in its workspace successfully.