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Design an Anthropomorphic Robotic Arm with 4 DOF

Abstract:

Robotics has been a key driver in the evolution of Industry 4.0, with an annual growth rate of 5%. By automating hazardous and repetitive tasks, robots have significantly improved industrial efficiency and business competitiveness. Various robot morphologies and configurations exist in industrial applications, with their effectiveness depending on the specific use case. While six degrees of freedom (DOF) anthropomorphic configurations offer extensive flexibility in positioning and orientation, simpler applications often require robots with fewer DOF. This paper presents the development of a four-DOF robotic arm, detailing the design, simulation (using RoboAnalyzer and Matlab), kinematic analysis, and field testing. The robot’s performance was thoroughly evaluated through repeatability tests, demonstrating that the model achieves sub-millimeter repeatability across a range of load and speed conditions. This work provides a simpler, more accessible alternative for a variety of applications.