Introduction

In recent industries, medical are widely depending on 6 axis robot arm or manipulator
because of their more precise performance in doing particular task by means of its
controllable programming software, load support capacity and greater flexibility for 6
degrees of freedom. The robot arm is the most powerful appliance is used most of the
industries to day to enhance the productivity. 6 axis manipulator comprises with two
units which are the robotic arm and the control systems and this is known as six degrees
of freedom which allows the arm a flexible motion while doing work.

Here is a brief description of 6 axis location and rotation of each axis to perform a job
precisely.
Axis 1:
This is the basement main axis where the robot arm can rotate 360 degree angle
clockwise and anti clock wise.
Axis 2
It allows the arm to lean back and forward
Axis 3
It helps the arm of upper part to go up and down

Axis 4- this part of the arm work as wrist roller and allows upper part of the arm a 360
degree flexible rotation

Axis 5- It allows the arm wrist to move upward and downward

Axis 6 – It helps arm wrist to have ability of 360 degree rotation.

In all axis, rotation is performed either use of servo motor or stepper motor where servo
motor allows control torque but stepper motor allows full torque. Control systems allow
precise motion of the arm by means of controlled power supply in the motors.

http://www.mechatronic.me/robotics/84-how-6-axis-industrial-robots-work
Aims and objective

Aims of the research is to carry out research on 6 axis robot arm based on published
journal and research paper and robot arm manufacturer product outlets and books. To
research how useful and precise work can be done by robot arm if it is used in
sophisticate task where precision is must.

Objective are to analyse the published research paper of designing 6 axis robot arm
which methodology is used and what data is used to come up with an idea of designing
robot manipulator.

Research process

The aim of this research process is to study the comparison of different research paper
on the design of 6 axis robot arm and compare the mechanism applied on design and
workspace analysis of those 6 degrees of freedom.

Research can be done by adopting either quantitative or qualitative method. Quantitative

method incorporates with idea of measuring quantity. Qualitative research refers to the
qualitative phenomenon regarding quality. It is mostly descriptive, non-numerical, use
reasoning and words where the aim is to reveal the feeling, meaning and illustrate the
situation. We do measurement and in terms of research of structure or substance, we
weighted matters. It is impossible to weight a pattern or measure it. However when we
study a patterns, we have to link up relationship configuration. Which means that a
pattern requires qualitative approach where as structure requires quantitative approach.
If a researcher desired to research the reason behind some data being random, then it is
qualitative method and if aim is regarding the research of frequency of randomise data,
their mean, distribution function and variance then it is required to take quantitative
approach.

In order to conduct research process, two different research paper was reviewed in all aspects,
those research paper title are, “Design and Construction and Motion Control of 6-Axis Robot
Manipulator for Industrial Applications” by Supachock Tuntivivat and Pradya Prempraneerach.
Another one is “Dynamic behaviour analysis for a six axis industrial machining robot” by Claudiu,
Mehdi, Alain and Yeves. According to the supachock tuntivivat research paper, SPiiPlus motion
controller is used for 6 axises in order to perform precise motion. However other motion controller
can be considered for instance, LAN motion controller, MC4U control system.