Title: Experimental and simulation study of a four-degree of freedom robot arm moving through space planner path

Authors: Hajar Abd Al-Sattar Ali; Hatem H. Obeid

Addresses: Mechanical Engineering Department, University of Babylon, Babylon, Iraq ' Mechanical Engineering Department, University of Babylon, Babylon, Iraq

Abstract: In this work, a 4-DOF robot arm manipulator was built and tested using the software programs LABVIEW and SOLIDWORKS. The model tracks a horizontal path at four times periods and is tested in experimental and theoretical environments. The aim study of this work was to make CAD models of the four degrees of a freedom robot arm and then use LabVIEW programming to control how its moves. The optimum time for the path and minimum power consumption is identified to accomplish the task. Also, the kinematics and dynamics parameters of the robot arm were calculated and tested through the proposed intervals. Four case studies are utilised to evaluate the module's performance at two, four, six and eight seconds. By observing the results, it was investigated that the optimum time to complete the task is between two and four seconds and the power consumption reduced by 99.8%.

Keywords: robotic; arm; power consumption; time periods; kinematics; kinetics; real-time.

DOI: 10.1504/IJCVR.2024.141813

International Journal of Computational Vision and Robotics, 2024 Vol.14 No.6, pp.631 - 653

Received: 10 Feb 2023
Accepted: 15 Mar 2023
Published online: 02 Oct 2024 *

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