Kinematic and dynamic analysis of a four axis robotic arm

With the continuous development of the robotics industry, the types of robotic arms are constantly emerging and appearing in multiple fields. This article aims to study the kinematic and dynamic analysis of a four axis robotic arm during actual operation. For kinematic analysis, the D-H parameter expression method was used to obtain the forward and inverse motion solutions of the four axis robotic arm, and the results were verified through Matlab kinematic simulation. Then, the obtained solutions were used to more intuitively demonstrate the workspace of the four axis robotic arm using Monte Carlo method; In response to dynamic problems, this article uses the Lagrangian method to establish a dynamic model of a four axis robotic arm and obtain dynamic equations. At the same time, this article adopts the Amdas simulation method to more intuitively understand the dynamic characteristics of the robotic arm.