The design and analysis of a six-degree of freedom robotic arm

Abstract

This paper aims to exploit technology in saving lives; a robotic arm is designed for EOD (Explosive Ordnance Disposal) applications that can rival the EOD robotic arms available in the market, in terms of both its capabilities and functionality, and still cost a small fraction of their price. Though there are many robotic arms that are commercially available, which can be used to handle different objects in various environments, our robotic arm has been designed to meet specific application-based requirements. The arm is required to reach 2 meters in every direction, to carry a maximum payload of 10 kilograms at that full extension, and to have 6 degrees of freedom for effective manipulation and complex movements by the end effector. In this paper, we present the design process as well as the analysis of the proposed robotic arm to be fixed on an UGV (Unmanned Ground Vehicle). The mobile robotic arm can then be operated remotely in dangerous zones, and deal with suspicious objects, without jeopardizing human lives.