Development of a prototype 6 degree of freedom robot arm

Abstract

The study presents a design alternative, simulates the operation, and analyzes the new structure of the 6 DOF robot arm. The proposed robot model is based on reference shapes from AR3 robot arm, with modifications to details and structures to accommodate the actual and economic circumstances in Vietnam. Solidwork software was first utilized for the arm structure's design, strength testing, and optimization. The material is chosen with the goal of reducing production cost and ensuring the robot's operation properly. The study concludes by applying the topology optimization algorithm to a machine component to determine the optimal structure of the robot arm. To validating the design results, the prototype is manufacturers using CNC machine. The experimental results show the robot arm basic functions effectively. This research could be used as references for designing and manufacturing a 6 DOF robot arm with relative robot's structure.

Keywords

• Robot arm
• AR3
• 6 DOF
• Topology optimization
• Kinematics