Comprehensive Dynamic Analysis of a 6-DOF Robotic Arm Using Advanced Simulation Techniques

This paper presents a detailed dynamic analysis of a six degrees of freedom (6-DOF) robotic arm using advanced simulation techniques in MATLAB Simulink. The study focuses on evaluating the robotic arm's performance under various operational conditions, including joint movements, trajectory tracking, payload handling, disturbance rejection, and navigation in dynamic environments. Kinematic and dynamic models were developed using the Denavit-Hartenberg (D-H) parameters and Lagrange equations, enabling a comprehensive understanding of the arm's motion and force interactions. Sinusoidal inputs with varying amplitudes were applied to the joints, producing detailed profiles for angular displacement, velocity, acceleration, and torque. The findings reveal that the base joint experiences the largest torques due to its role in broader rotational movements, while wrist joints exhibit smaller, more frequent adjustments required for precise control. The study emphasizes the importance of tailored control strategies and actuator designs to meet the unique demands of each joint. These insights contribute to the development of more efficient and robust robotic systems, with applications in manufacturing, medical procedures, and space exploration.