Complete Kinematic Analysis of the Joint Variables of the Robot Mechanism During the End-Effector's Movement Along a Circular Path

This article explores the kinematic analysis of the component movements within a robotic mechanism, focusing specifically on joint movements as the “end effector” traverses a circular trajectory. The primary aim is to introduce a methodology for performing a comprehensive kinematic analysis of the robot's open kinematic chain. The end effector's path within the multi-link manipulator model is defined using a 5th-degree polynomial, creating a circular trajectory. Calculations involve determining the angular displacement, angular velocity, and angular acceleration as the effector progresses along the circle. Furthermore, all six kinematic relationships are defined with respect to time and interdependence. The shape of the workspace is derived under varying angular constraints alongside the outlined trajectory of the end effector. When the arm reaches maximum extension, the patterns of angular rotation, angular velocity, and angular acceleration are specified. Matlab software is used to obtain and analyze these results.