Design and simulation of a robotic arm for a service robot

Abstract

This paper focuses on designing and simulation of an interactive robotic arm for pick and place and service applications. The robot is expected to have image processing and voice recognition capability. The mechanical structure is simulated using forward kinematics and for this, Denavit-Hartenberg parameter method is used for the proposed design and hence the mechanical structure is simulated in MATLAB and SolidWorks. SolidWorks structure comprises the proposed link lengths and joints which were used for forward kinematics calculations and workspace simulations. Static and dynamic torques are taken into consideration to determine the torques of joint motors. It is expected to find the design requirements and assess the scope of the robot arm before its manipulation.