Kinematics and Dynamics Analysis of 5DOF 360 Degree Machining Robot

Industries are moving towards automation looking for application of robotics for performing flexible machining operations with high accuracy and precision. Industries require such robotic configuration which covers multiple domain within a single robotic system. The current work proposes for such robotic configurations to achieve such flexible 360° machining operations such as drilling. A three-dimensional computer aided design of the 5DOF robot manipulator robotic structure is done with the help of SOLIDWORKS software and it is visualized using RoboAnalyzer and then is fabricated accordingly. Kinematic analyzes such as forward kinematics and reverse kinematics of 5DOF robot manipulator with five revolute joints of proposed model are represented in a simplified manner. The forward kinematics are developed from Denavit-Hartenberg parameters and homogenous transformation matrix. The inverse kinematics are further obtained using algebraic solution method. The workspace is shown for the proposed robotic configurations from RoboAnalyzer software. The path planning is created and evaluated for the desired orientation and position of end effector manipulator. The calculation for the static torque is done. Finally, the results of kinematic analysis are validated with the help of RoboAnalyzer and MATLAB-Simulink to obtain desired output.