Design and Analysis of Circular
and Square Arm for an Articulated
Robot
Keval Bhavsar, Dharmik Gohel, and Jaimin Panchal
Abstract This paper presents the design and analysis of an intellectual model of
a robotic arm. The principal objective is to identify the material and cross section
of the robotic arm. In this project by using CREO, two different cross sections of
an articulated robotic arm with three-axis rotation, i.e., three degrees of freedom
(3-DOF), will be created. One will be a circular arm robot, and another will be a
square-shaped arm robot. And both the cross sections will be analyzed with boundary
conditions in ANSYS. The material for the analysis will be stainless steel, kevlar
epoxy, and carbon epoxy. The forward kinematics of the robot is done using the DH
parameters. Also, inverse kinematics is shown in this paper.
Keywords Robot · Articulated robot · Circular arm · Square arm · 3-DOF · DH
parameter · Forward kinematics · Inverse kinematics · Steel · Kevlar epoxy ·
Carbon epoxy
1 Introduction
An industrial robot is a reprogrammable, multifunctional controller intended to move
materials, parts, apparatuses or extraordinary gadgets through factor modified movements for the exhibition of an assortment of undertakings. An articulated robot is a
robot with only rotary joints (R-R-R configuration). They can have a basic two-jointed
structure to frameworks with ten or more rotating joints. The design of the arms is
made in “Creo 5.0” and analyzed in “ANSYS 2019 R3.” The forward kinematics
of the robot is carried out using Denavit–Hartenberg parameters. The inverse kinematics model is calculated from the forward kinematics. There will be three motors
to control the joints. As it is an articulated robot, it will be having only revolute
joints. In this design, there will be three rotating joints that is an R-R-R configuration. The objective is to find the optimum material and cross sections. The cross
K. Bhavsar (B) · D. Gohel · J. Panchal
Pandit Deendayal Petroleum University, Gandhinagar, Gujarat, India
e-mail: kevalbhavsar42@gmail.com
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021
A. K. Parwani et al. (eds.), Recent Advances in Mechanical Infrastructure,
Lecture Notes in Intelligent Transportation and Infrastructure,
https://doi.org/10.1007/978-981-33-4176-0_39
457
and Square Arm for an Articulated
Robot
Keval Bhavsar, Dharmik Gohel, and Jaimin Panchal
Abstract This paper presents the design and analysis of an intellectual model of
a robotic arm. The principal objective is to identify the material and cross section
of the robotic arm. In this project by using CREO, two different cross sections of
an articulated robotic arm with three-axis rotation, i.e., three degrees of freedom
(3-DOF), will be created. One will be a circular arm robot, and another will be a
square-shaped arm robot. And both the cross sections will be analyzed with boundary
conditions in ANSYS. The material for the analysis will be stainless steel, kevlar
epoxy, and carbon epoxy. The forward kinematics of the robot is done using the DH
parameters. Also, inverse kinematics is shown in this paper.
Keywords Robot · Articulated robot · Circular arm · Square arm · 3-DOF · DH
parameter · Forward kinematics · Inverse kinematics · Steel · Kevlar epoxy ·
Carbon epoxy
1 Introduction
An industrial robot is a reprogrammable, multifunctional controller intended to move
materials, parts, apparatuses or extraordinary gadgets through factor modified movements for the exhibition of an assortment of undertakings. An articulated robot is a
robot with only rotary joints (R-R-R configuration). They can have a basic two-jointed
structure to frameworks with ten or more rotating joints. The design of the arms is
made in “Creo 5.0” and analyzed in “ANSYS 2019 R3.” The forward kinematics
of the robot is carried out using Denavit–Hartenberg parameters. The inverse kinematics model is calculated from the forward kinematics. There will be three motors
to control the joints. As it is an articulated robot, it will be having only revolute
joints. In this design, there will be three rotating joints that is an R-R-R configuration. The objective is to find the optimum material and cross sections. The cross
K. Bhavsar (B) · D. Gohel · J. Panchal
Pandit Deendayal Petroleum University, Gandhinagar, Gujarat, India
e-mail: kevalbhavsar42@gmail.com
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021
A. K. Parwani et al. (eds.), Recent Advances in Mechanical Infrastructure,
Lecture Notes in Intelligent Transportation and Infrastructure,
https://doi.org/10.1007/978-981-33-4176-0_39
457