Kinematic Analysis of Open-Source 5 DoF Robot Arm

Authors : Mehmet GÜL

Pages : 9-18

View : 19 | Download : 16

Publication Date : 2021-06-15

Article Type : Research Paper

Abstract :Control of the robot is an important place for the use of robot technology. The use of robots is continually extending. Today, the usage of robots is at most 5% all over the world in the industry. According to The International Federation of Robotics insert ignore into journalissuearticles values(IFR); data, this usage rate is estimated to be more than 2 million in the world between 2018 and 2021. One of the applications is the usage of robotic technology such as office environment, military duties, hospital operations, etc. Moreover, robots are rather invaluable in complicated or hazardous processes like toxic materials, neutralizing explosives, or performing certain specific repetitive tasks in industries, instead of human interference. Sensors play a significant role in performing the functions of robots in all these processes. There was mentioned the importance of using open-source robot arms with professional features and industrial scale in terms of decreasing workload of hospital staff. Today, the priority is human health, and how significant any system developed in the health system is more understood especially in the pandemic process. For this reason, the open-source robot arm is analyzed and it will not be an issue such as copyright, it can be printed from 3D printers and it saves more budget. Additionally, robot arm kinematic analysis was done to define the workspace.
Keywords : Robotic Arm, Forward Kinematic, Inverse Kinematic