Design and Construction of a 6-DOF Modular Robotic Arm-Z

This paper presents the design and construction process of the Arm-Z manipulator, which represents the concept of a hyper-redundant manipulator based on a connected sequence of identical modules. Each module provides a single degree of freedom (1-DOF), specifically a twist relative to the previous module. The uniformity of the modules gives Arm-Z the potential to be cost-effective and robust. Standardized modules allow for mass production and can be easily replaced in case of failure. This paper discusses each stage of the design process from mechanical perspective, including: module’s geometry, simulation based on Denavit-Hartenberg parameters, and manufacturing process. The section covering work on the electrical system discusses issues such as selection of: motors, power supply, protections, and the network’s topology connecting EPOS controllers.