Simulation Of A Robotic Arm Forward Kinematics In CAD Environment

In the current case study, a CAD model of 5-DOF jointed robotic arm is designed and presented.The model has been developed in Autodesk R Inventor environment.In addition to part and assembly files, it includes an interface form and an iLogic rule for the user to control any joint deflection.End-effector transformation matrix is computed afterwards and displayed by a 3 rd party tool DebugView after pressing a button.An alternative approach is to compute transformation matrix by means of Denavit-Hartenberg parameters.A thorough discussion as to how the proposed approach is beneficial to the project is given in corresponding section.