Robotic Arm Design

Overview

Robotic arm design requires a deep understanding of mechanics, electronics, and software. My approach combines theoretical knowledge with practical experience to create optimized solutions for specific applications.

Design Process

1. Requirements Analysis

• Payload capacity and reach requirements
• Working envelope analysis
• Speed and precision specifications
• Environmental considerations

2. Kinematic Design

• DH parameter optimization
• Joint configuration selection
• Workspace analysis
• Singularity avoidance

3. Dynamic Analysis

• Inertia calculations
• Torque requirements
• Vibration analysis
• Control system tuning

Technical Specifications

6-DOF Industrial Arm

• Payload: 10 kg
• Reach: 1.2 meters
• Repeatability: ±0.02 mm
• IP Rating: IP54
• Control: EtherCAT communication

Collaborative Robot (Cobot)

• Payload: 5 kg
• Reach: 900 mm
• Force Sensing: Integrated at each joint
• Safety: Power and force limiting
• Programming: Lead-through, GUI, SDK

Software Architecture

Control Stack

• Application:
• Motion API:
• Trajectory:
• Planning:
• Kinematics:
• Hardware:
• Interface:

Programming Interfaces

• ROS Integration: Full ROS 2 support with custom packages
• Python API: High-level control and automation scripting
• C++ SDK: Real-time control capabilities
• Web Interface: Remote monitoring and configuration

Case Study: Pick and Place Optimization

Challenge

Achieve 60 picks per minute with 99.9% accuracy in a constrained workspace.

Solution

• Custom end-effector design with vacuum and gripper combination
• Advanced path planning algorithms
• Vision system integration for part detection
• Real-time trajectory optimization

Results

• Speed: 65 picks per minute (8% above target)
• Accuracy: 99.95% success rate
• ROI: 18 months payback period