Kinematic Analysis, Workspace Optimization, and Structural Validation of the XB4 Robotic Arm for Intelligent Manufacturing

Advancements in automation have led to widespread adoption of robotic arms in industrial, medical, and service sectors, accelerating intelligent transformation. This study investigates the XB4 robotic arm by analyzing its kinematics, workspace reachability, and structural reliability using the modified Denavit-Hartenberg (D-H) parameter method, Monte Carlo simulations, and finite element analysis. A refined link coordinate system is established, and MATLAB simulations are conducted to evaluate workspace distribution. Additionally, structural analysis verifies the strength and rigidity of the robotic arms base. Results demonstrate that the XB4 robotic arm exhibits high kinematic accuracy, an optimized workspace, and robust structural integrity, making it well-suited for automation in complex industrial environments. The findings provide theoretical guidance for robotic arm design and optimization, facilitating advancements in intelligent manufacturing.