Six Degree of Freedom Robotic Arm with Mimicking Mechanism
Param Kothari

TL;DR
This paper presents the design and prototype of a 6 DOF robotic arm with a mimicking mechanism, controlled by a micro-controller, suitable for industrial pick-and-place tasks, emphasizing the effectiveness of servo motors over pneumatics and hydraulics.
Contribution
The paper introduces a novel 6 DOF robotic arm prototype utilizing servo motors for movement, demonstrating improved performance over pneumatic and hydraulic systems.
Findings
Servo motors provided minimal lag and smooth movement.
The robotic arm successfully performed pick-and-place tasks.
Servo-based design outperformed pneumatic and hydraulic concepts.
Abstract
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years the design, fabrication and development of robotic arms have been active research areas in robotics all around the world. This project describe a mechanical system, design concept and prototype implementation of a 6 DOF robotic arm, which should perform industrial task such as pick and place of fragile objects operation. This robot arm being controlled by micro-controller has base, shoulder, elbow, wrist rotation and a functional gripper. Gripper has been built as end-effector and is capable of grasping diverse objects within own workspace of the arm possible. I made an effort to endeavour one of the best model possible out of the three concepts…
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Taxonomy
TopicsRobotic Mechanisms and Dynamics · Robot Manipulation and Learning · Soft Robotics and Applications
