Md.

Siddiqur Rahman
siddik.me@gmail.com

A Complete Design of a Manipulator Robot of

Arbitrary Shape
1.0 CONCEPT AND CONTENT:
The design concept is taken from loading unloading machine. A simplified form is
considered from actual shape.

Fig.1 Manipulator of simplified form

Different stages of design are given below:
I.

Manipulator kinematics

II.

Jacobians

III.

Manipulator dynamics

IV.

Trajectory generation

V.

Control

VI.

Sensor and actuator

VII.

Robot programming

2.0 MANIPULATOR KINEMATICS:

General form of transformation for manipulator link

2.1 FOROWARD KINEMATICS:

Fig.2 Different rotation and translation of the manipulator.

i

i-1

ai-1

di

90

l1

-90

l2

d3

90

l3

Fig.3 DH parameter of the manipulator link

According to General form of transformation the matrixs are

C1

-S1 0

S1

C1 0

C3

S3

l2

d3

S3

C3

C2

-S2 0

l1

-1

S2

C2

C4

S4

l3

-1

S4

C4