Multibody Kinematics of Prosthetic Arm

This paper shows the kinematic imitations of the robot arm that can simulate a human arm and wrist. This robotic arm can be analyzed by the changes in the torque needed to be unleashed and the changes in velocity that travel by the fingertip end positioning through three-dimensional space. It is necessary to simulate multiple robotics phenomena. An implementation through MATLAB with SIMSCAPE uses a sinusoidal harmonic wave as a motion input, and the power is calculated automatically. This motion in X, Y, and Z directions gives an understanding of the end effector’s movement through velocity profile graphs; it is a simulation model-eye candy manifestation. Transformation methods in multibody dynamics are explored to simulate the same robotic arm to verify that this is how the engineering design and operational efficiencies should look. The results show that arm movements were effective since the basis is put down here for further torque optimization and structural design. This proposed method is adaptable for the future for potential simulation in robotic systems of link-joint operators and therefore may become an important tool to potentially advocate and model advanced robotic systems for their application in prosthetics among other imperative functionalities.