Kinematic analysis and model development of TRL: R mechanism

Abstract

A robotic arm is a mechanical arm which is designed to perform a function similarly as a
human arm does. It is usually programmable and arm may be a sum total of the mechanism or can be
part of a complex robot. To design a robot, various links are being connected by joints allowing either a
translational (linear) motion or a rotational motion in various planes. In many cases sensors are used in
the arm that usually indicates the controller about the hardness by which the gripping is done by arm or
directs the arm in directions in which it should move to perform the task or it tells the system about
presence of object in front of it. The selection of electrical components used in the robotic arm is also
taken into account by calculating the inverse kinematic and forward kinematic of this robotic arm
movement. Besides that, the forces exerted on the robotic arm are also calculated to ensure the
mechanical components of the robotic arm is not easily broken or damaged. Referring to the result
obtained, a robotic arm resistance depends on the motor used. Therefore, the compatibility of motor
torque with the robotic arm design is made is important because it affects the stability of the robotic arm.
Testing and validation of the robot arm was carried out and results shows that it work properly.