Dynamics Analysis of a Six Degree of Freedom Articulated Robotic Arm using Robotic Toolbox
This paper describes dynamics analysis of a six degree of freedom (DOF) articulated robotic arm. The kinematics is derived based on Denavit-Hartenberg (DH) representation of robotic arm. In this paper, Newton Euler formulation is used to solve direct and inverse dynamics problems of manipulator. MATLAB Robotic Toolbox software is used for dynamics analysis on robotic arm. Total workspace of a six DOF robotic arm 500×500×650mm to carry a maximum payload of 460g is used for painting operation. Finally, the results from theoretical and simulation approaches are compared and discussed. The maximum value of driving torque is occurred at joint two and the minimum value is at the last joint. The maximum driving toque is about 25 N-m and the minimum driving torque is about 4.8 N-m of the articulated robotic arm.
Keywords - Denavit-Hartenberg (DH) parameters, Dynamics, Kinematics, Newton Euler Method, Robotic Arm.