Modelación cinemática y dinámica de un brazo robótico basado en barras de cuatro grados de libertad

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Abstract

This work describes the kinematic analysis of a four degrees of freedom link-based robotic arm. In the first place, the mechanical design of the proposed robotic arm and its nominalized dimensions are presented. After that, it was stated the direct analysis, which allows computing the position of all arm elements, depending on the values of the control angles. This analysis was done by using the three-dimensional geometric transformations and relationships, and the corresponding matrix algebra expressions. The inverse analysis, also included, computes the values of the control angles, for the given position and inclination of the actuator. Geometric and trigonometric relationships were used for this purpose. Finally, a simulation by using a MATLAB code, was done for testing the obtained expressions. The achieved relationships will allow other analyses of the robotic arm, such as the static and dynamic force analysis, and vibration studies. It also will be used in the optimization of its motion paths.