Kinematic Analysis and Torque Dynamics of a 5-DOF Robotic Manipulator for Enhanced Precision and Fault Detection in FDM 3D Printing

This paper comprehensively analyzes a 5-DOF robotic manipulator, focusing on kinematics, Jacobian matrix derivation, singularity characterization, and torque computation. The study enhances precision and efficiency in robotic operations through advanced modeling and simulation techniques. Key contributions include detailed insights into the kinematics, torque dynamics, and singularity analysis of the manipulator, guiding the design of robots for computer vision tasks in FDM 3D printing. Illustrating singularity regions and optimizing trajectory planning offer a basic framework for ensuring compatibility across various 3D printers, advancing robotic design, and improving quality assurance in additive manufacturing.