Kinematic Modelling of a Three-Axis Articulated Robotic Arm

This paper presents the kinematic modeling and validation of a three-degree-of-freedom articulated robotic arm for industrial operations. The robotic arm is designed using CAD software and its forward and inverse kinematics are derived analytically using the Denavit-Hartenberg convention. The kinematic model is verified using MATLAB, Roboanalyzer, and Fusion 360 software. The accuracy and precision of the model is also rated based on simulation results. The paper shows that the robotic arm can reach any position in its workspace with four possible configurations. The paper contributes to the field of robotics by providing a comprehensive kinematic model of a widely used industrial robot.