Dewata, Amadea Widi and Berchmans, Hanny J. and Iskandar, Aulia Arif (2018) Prototyping 4 Degree of Freedom Robot Arm For Kinematic and Dynamic Analysis. Masters thesis, Swiss German University.

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Abstract

Nowadays, technology developments are advancing rapidly. The demands of life for humankind require humans to be able to move quickly to achieve their goals, take examples such as transportation, health, communications and industry. In today's industrial world the development has been toward internet-based which aims to increase the productivity of an industry. Increased industrial productivity is similar to the increasing use of industrial robot arms. The robot arm is already in the trust of the industrial community to replace the performance of humans. The robotic arm uses the same movements as the movement of the human hand, where the robotic arm requires the coordinates of the position to move. Position coordinates serve as input or source commands to know the robot arm is in a position where or even find the position of coordinates to be addressed. The kinematic and dynamic of robot arm is related to the number Degree of Freedom (DOF) of the robot arm. Kinematic analysis of robot arm discusses the position and movement of the robot arm. Meanwhile, the dynamic analysis discusses the acceleration and delivered force of robot arm during operation. In this thesis, the work are focused on the development of a 4 DOF robot arm prototype. Denavit–Hartenberg (DH) parameters method was implemented to develop the kinematic analysis of the 4 DOF robot arm prototype. Kinematic and dynamic examination of the robot arm prototype results show that the position and movement accuracy of the robot are influenced by some key factors which are rigidness of the links, stability joints installation, the quality of servomotor for active joints and end effector load.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	4 DOF; Robotic Arm; Kinematic; Dynamic; D-H Parameters
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General) T Technology > TS Manufactures > TS155 Lean manufacturing > TS155.6 Rapid prototyping
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Astuti Kusumaningrum
Date Deposited:	06 Jun 2020 15:22
Last Modified:	06 Jun 2020 15:22
URI:	http://repository.sgu.ac.id/id/eprint/798

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