Robotic Arm For Haptics Feedback: Design and Kinematic Analysis

The necessity for multi-dimensional research into the exploitation of simple structural configurations for digital manufacturing and artificial intelligence brought about this work. This resulted in the conception of a novel reconfigurable robotic arm workstation idea as the first stage of a multi-operative robotic applications workstation. A rigorous kinematic analysis was carried out and a 3D CAD model was developed based on the outcome of the analysis. The joint interactions were modeled using Denavit Hartenberg criteria while the constraints were modeled in SolidWorks. The complete model parts were then 3D printed and assembled. For the control, the algorithm was implemented on an Arduino board connected to a developed potentiometer that manually controls the arm rotation. However, automation is achieved by recording a series of manual steps for a particular operation, which can be repeated as many times as the operator desires. The end effector was designed such that different operations such as drilling, and laser works not limited to these can be carried. The drilling operation was tested, and the result was recorded. Therefore, this workstation can be used for other applications and further control mechanisms are being explored currently and further.