MANDALAY TECHNOLOGICAL UNIVERSITY

DEPARTMENT OF MECHANICAL ENGINEERING

Kinematic Analysis of 3 D.O.F Articulated Robotic Arm

TITLE DEFENCE
Supervised by
Dr. Wai Phyo Maung
30th. June . 2016

Presented by
Ma May Myat Mon
ME M-22
1

Outlines of Presentation
Aim and Objectives
Literature Reviews
Problems to be Solved
Introduction of the Robotic Arm
Kinematic Analysis
Advantages and Disadvantages of the Robotic Arm
Applications of the Robotic Arm
Methodology
Conclusion
Reference
2

Aim and Objectives

Aim
To design , construct and carry out the kinematic analysis on the Articulated
robotic arm for industrial purpose
Objectives
To study the components of robotic arm and select the suitable components
To design the robotic arm with using SolidWORKS software
To carry out the kinematic analysis on the robotic arm by using with
MATLAB Software
To do experimental test with pick and place operation
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LITERATURE REVIEWS
Sr.

Research
paper title

Methodology

1.

Kinematic
Analysis Of 3
D.O.F
Of
Serial Robot
For Industrial
Applications

2.

A Study On Absolute
Kinematic
Cartesian Method
Analysis of
3-DOF R-RR
Type
Manipulator
ARM

Problem solving

MATLAB
To analyze of serial
Denavit
robot by using DH
-Hartenberg (DH) Parameters
and
parameters
obtained the results for
industrial applications

To design a manipulator
capable of high link
accelerations without
sacrificing positional
accuracy

Contribution
(Result)
Obtain the Working
area and solutions
where as the solutions
are as similar to the
theoretical

Author Name
(published
yr)
Annamareddy
Srikanth1
M.Sravanth2
V.Sreechand3
K.Kishore
Kumar4
[2013]

Calculation
of K. J. Parekh,
kinematic parameters S. M. Sharma
was used to derive [2013]
the
kinematic
parameters for 3DOF 4-link RRR type
Manipulator Arm and
can be achieved
very high stiffness-toweight and strength
to- weight ratios,
minimize deflection
and stress

Continued
Sr.

Problem solving

Contribution
(Result)

Research
paper title

Methodology

3.

Modeling,
Simulation And
Position Control
Of
3DOF
Articulated
Manipulator

PID Controller
Mathematical
equations
Jocobian
Matrix

To construct model Using the fuzzy

and simulate 3DOF controllers
and
Articulated
intelligent method
Manipulator
like neural network
is proposed for
controlling
these
kinds of complex
systems

Hossein
Sadegh
Lafmejani1
,
Hassan
Zarabadipour2
[2014]

4.

Design,
Development
And Kinematic
Analysis Of A
Low Cost 3 Axis
Robot
Manipulator

D-H parameters
MATLAB
Graphical User
Interface (GUI)
and
C++
Language

To design, develop
and carry out the
kinematic analysis
on the low cost 3
axis robot to check
its feasibility for the
above
mentioned
requirement

Sudhakar
Ramasamy1,
Sivasubramanian
R2, Krishnakumar
M1,
Prakashpandian .
M.D1
[2014]

Predict for robot's

payload
capacity,
work
space
flexibility and the
movement
of
various arms within
the work zone based
on the kinematics
model

Author Name
(published yr)

Continued
Sr.

Research
paper title

Methodology

Problem solving

Contribution
(Result)

Author Name
(published yr)

5.

Kinematic
Computer
Analysis Of An Aided Design
Articulated
(CAD)
Robotic
C++ Language
Manipulator
Mathematical
Formulation

To apply forward This analysis is K.Kumaraesan

kinematics to a 5DOF useful for path [2015]
articulated
tracking
of
an
manipulator
industrial
manipulator
with
pick and place
application

6.

Gantry
Robot
Kinematic
Analysis
User
Interface Based
On Visual Basic
and MATLAB

To change the design

parameter for studying
of robot kinematic
behavior,
to better
support transformation
of data and code
generation, and this
bring a new dimension
of flexibility into
manufacturing

CAD software
MATLAB
D-H
parameters
Graphical User
Interface (GUI)
software

The mathematical
model is prepared
and solved for
positioning of the
end-effectors and
easy for researchers
and students to
study the kinematic
of gantry robot

Mahir
Abdelwahid
Ibrahim Ismail1,
Mohammed
Khalafalla
Mohammed
[2015]

Problems to be solved
Traditionally , robotic arms possess poor positional accuracy and
frail repeatative performance.
To accomplsih a task in an application , most current robotic arms
are needed to control the position and orientation in various
coordinate systems such as work piece to tool.
Most of small manufacturing industries cannot afford due to high
cost of robotic arm.

Introduction
New low-cost and flexible robot concepts are needed to fill the needs
of small and medium-sized enterprises (SMEs) in manufacturing.
The most common manufacturing robot for industrial purpose is the
robotic arm.
A robotic arm is a type of mechanical arm , usually programmable ,
with similar functions to a human arm ; the arm may be the sum total
of the mechanism or may be part of a more complex robot.
The robotic arms are generally used to do precisely the same thing , in
a controlled environment , over and over again.
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Classifications of Robotic Arms

Figure 1. Types of Robotic Arms

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Components of the Articulated Robotic Arm

A Rover
End-Effector
Sensors
Controller
Actuators

Wrist
Elbow

End-effector

Shoulder

Controller
Actuator

Base

Figure 2. Components and parts of the Articulated Robotic Arms

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Actuator Types
There are five kinds of actuator types . They are -

Fig a:Air Motor

Fig b: Hydraulic Motor

Fig d: Stepper Motor

Fig c: Clutch/Brake

Fig e: Servo
Motor

Figure 3 : Actuator Types

The most commonly used actuators in robotics are electric

motors , be it either a stepper or servo type.

Servo Motor
The term servo motor does not

refer to one single kind of motor.

Instead it refers any type of motor
that receives a command signal from a
controller.
Servo motors are best suited for
closed loop applications.
Figure 4. Servo
motor
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Two types of joint in robot

Depending

on the nature of this relative motion, the joints are

classified as prismatic or revolute.

Premastic joint

Revolute joint

Figure 5. Prismatic joint ( linear) and Revolute joint (rotary)

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Degree Of Freedom
The degree of freedom of a robotic system can be compared to
the way in which the human body moves.
Each degree of freedom is a joint on the arm , a place where it
can be bend or rotate or translate.
The degree of freedom can also be identified by the number of
actuators on the robot arm.

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Kinematic Analysis of Robotic Arm

The kinematic analysis of the robotic arm deals with

the

relationships between the end-effectors variables (i.e , the

position and orientation) and joint variables (i.e , the rotational or
translational displacement).
The kinematic analysis mainly includes two aspects , namely

the forward kinematic analysis and

the inverse kinematic analysis.

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Fig 6. Kinematic Cycle Showing Forward and Inverse Kinematics

16

Advantages and Disadvantages of Robotic Arm

Advantages

Disadvantages

Less mistakes

Extremely high capital cost

Can do many things faster

Can malfunction

Can work 24 hours a day

Cannot think creatively

Can eliminate the manual

Requires specialize people for

based tasks and operations

maintenance

Can save man power

Less time consuming

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Applications of the Robotic Arm

Industrial Applications
Home Applications
Medical Applications
Pick and place Applications
Infrastructure projects

18

Methodology
The block diagram represents the step by step methodology for the
kinematic analysis , simulation and design of the robotic arm.
Data Collection

Design and Calculation

Simulation with LABVIEW
Kinematic Analysis

Construct the robotic arm

Experimental Testing
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Conclusion
The construction and kinematic analysis of a robotic arm for
industrial operations are considered in this research.
To make the manipulator more accurate and precision , future
work , will carry out the kinematic analysis of the robotic arm.

2
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References
Damien Chablat and Philippe Wenger , The Kinematic Analysis of a Symmetrical ThreeDegree-of-Freedom Planar Parallel Manipulator , 2012
Sudhakar Ramasamy1, Sivasubramanian R2, Krishnakumar M1, Prakashpandian .M.D1 ,
Design, Development and Kinematic Analysis of a Low Cost 3 Axis Robot Manipulator
, 2013
Guohua Cui1*, Haiqiang Zhang1, Dan Zhang2 and Feng Xu1 , Analysis of the Kinematic
Accuracy Reliability of a 3-DOF Parallel Robot Manipulator , 2014
Hossein Sadegh Lafmejani1 , Hassan Zarabadipour2 , Modeling, Simulation and Position
Control of 3DOF Articulated Manipulator, 2014
Nadia Ramona , Kinematic And Dynamic Simulation Of A 3DOF Parallel Robot , 2015
K. J. Parekh , A Study on Kinematic Analysis of 3-DOF R-R-R Type Manipulator ARM
, 2015

Thanks For Your

Attention

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