ROBO
KINEMATICS
ARM
Project: Robotic arm
Group Members:
Name ID
Pronab Saha Pranto 20230108046
Tabassum Tandra 20230108053
Sidratul Muntaha Shithi 20230108080
Submission date: 09/03/25
INTRODUCTION
ROBOTIC ARM!!Robotic arms are programmed tools that can help speed up production and reduce the
need for dangerous or repetitive task automatically. A robotic arm is a robot manipulator and a
mechanical arm, usually programmable with similar functions to a human arm. The links of such a
manipulator are connected by joints allowing either rotational motion or translational displacement.
links of the manipulator can be considered to form a kinetic chain. The business end of the kinematic
chain of the manipulator is called the end effectors. The end effectors can be designed to perform any
desired task. Such as welding, gripping and spinning etc.
It is true that human arms can do many works at a time. But it
always involves risk of injury during work involving lifting of heavy
items and picking of radioactive substances. It is also seen that
efficiency of a person decreases as his age advances due to which
one involved in rough work becomes unproductive and inefficient.
Thus, robotic arms are involved in doing repetitive work and
people of all age can control it without any loss in efficiency.
SOLIDWORKS is the trusted choice for professionals who need to take their ideas from design to
manufacturing in one seamless solution. It offers more fully developed 3D modeling tools and easier to
use features along with a supportive user community. It is considered as a beginner friendly making it
easier to learn and use compared to other CAD software allows 3D modeling including complex
assemblies with realistic rendering. It facilitates team work by allowing multiple users work on the same
project simultaneously. Helps identify areas for improvement in a design by analyzing performance. This
also provide seamless transition from design to manufacturing by generating accurate 2D drawings and
other production documents. It shows versatility across various sectors including automotive,
aerospace, machinery and medical devices. Design of complex mechanical systems like robotic arms
including their joints, linkages and end effectors which is crucial for analyzing movement SOLIDWORK is
widely used.
Design tools, simulation, and collaboration tools are the key features and tools used in SOLIDWORKS.
Design tools:
Parametric modeling
Surface modeling
Sheet metal design
Large assembly design
DESIGN PROCESS IN SOLIDWORKS
Concept sketches & initial planning:
Hand drawing or defining initial structure:
Understanding key features and necessary dimensions:
Key features include: Boss extrude, cut extrude, revolve boss, loft, thread, mirror, fillet,
circular pattern, linear pattern, curve pattern, reference geometry.
Necessary dimensions were taken from the references.
Assembly Consideration:
Assembly features are shapes that are added to assemblies to present material
removal or other features.
I. Assembly 1: Gripper parts
II. Assembly 2: Swivel wheel
III. Assembly 3: Main body
Material Selection & Manufacturing feasibility:
I. Base: AISI 316 Annealed stain less steel Bar (SS)
II. Supportive Connecting Rod:
III. 1st Supportive Link Rod: AISI 316 Annealed Stain less Steel Bar (SS)
IV. 2nd Supportive Link Rod: AISI 316 Annealed Stain less Steel Bar (SS)
V. Gripper Base: AISI 316 Annealed Stain less Steel Bar (SS)
VI. Claw Cap: Rubber
VII. Gripper Body: Aluminum Alloys
VIII. Swivel Wheel: Matte Rubber
IX. Clamp Swede: Sandblasted Iron
X. Link Plate: Sandblasted Iron
XI. Nut & Screw: Stainless steel
Robotic arms manufacturing feasibility is possible depending on several factors including cost,
required precision. Manufacturing feasibility also depends on specific applications.
3D Part Modeling:
1.Supportive connecting rod:
Boss Extrude
Cut Extrude
Chamfer
Circular pattern
Loft
Fillet (constant size fillet)
Reference plane
2. 1st supportive link rod:
Boss Extrude
Cut Extrude
Fillet (constant size fillet)
Reference plane
Loft
Circular pattern
Dome
3. 2nd supportive link rod:
Part 1:
Boss Extrude
Cut Extrude
Fillet (constant size fillet)
Reference plane
Loft
Circular pattern (10 holes)
Part 2:
Boss Extrude
Cut Extrude
Circular pattern (10 holes)
4.Base:
Boss Extrude
Cut Extrude
Chamfer
Mirror
Circular pattern
5.Gripper Base:
Part 1:
Boss Extrude
Revolve
Circular pattern
Part 2:
Boss Extrude
Cut Extrude
Fillet (constant size fillet)
6.Gripper parts:
i. Carpal knuckle:
Boss Extrude
Cut Extrude
Fillet (constant size fillet)
ii. Carpal Gripper:
Boss Extrude
Cut Extrude
Fillet (constant size fillet)
Reference plane
Curve pattern (12 patterns)
Delete/keep feature used from INSERT
iii. Carpal connection:
Boss Extrude
Fillet (constant size fillet)
iv. Carpal Tendon:
Boss Extrude
Fillet (constant size fillet)
v. Claw Bond:
Boss Extrude
Cut Extrude
Fillet (constant size fillet)
Reference plane (for cutting the nails)
vi. Carpal Extender:
Boss Extrude
Cut Extrude
Fillet (constant size fillet)
vii. Center Probe Guide:
Revolve
Fillet (constant size fillet)
viii. Claw Base Mount:
Boss Extrude
Cut Extrude
Fillet (constant size fillet)
ix. Claw Set Screw:
Boss Extrude
Fillet (constant size fillet)
x. Claw Wrist:
Boss Extrude
Cut Extrude
Circular pattern
Fillet (constant size fillet)
xi. Claw Cap:
Delete/keep feature used from INSERT
Boss Extrude
Cut Extrude
Fillet (constant size fillet)
Mirror
7. Griper base holder:
Boss Extrude
Cut Extrude
Reference Plane
Lofted Boss/Base
Fillet (constant size fillet)
Mirror
Circular Pattern
8.Swivel Wheel:
i. Clamp Swede-wheel:
Boss Extrude
Cut Extrude
Shell
Fillet (constant size fillet)
ii. Link Plate 100X80 Swede-wheel:
Revolve
Cut Extrude
Fillet (constant size fillet)
iii. Screw of Swivel Wheel:
Boss Extrude
Cut Revolve
Linear Pattern
Iv. Hexagonal Nut Swivel-wheel:
Boss Extrude
Cut Revolve
Cut Extrude
Linear Pattern
Mirror
v. Rivet Link Plate 10 Swivel-Wheel:
Boss Extrude
Mirror
Fillet (constant size fillet)
vi. Wheel 125X37X50 Swivel-Wheel:
I. Revolve
II. Rib
III. Circular Pattern
IV. Cut Revolve
V. Mirror
VI. Fillet (constant size fillet)
Assembly Modeling:
Number of parts:
I. Assembly 1(Gripper): 11 parts
II. Nut: Taken from Library & others were made.
III. Assembly 2(swivel wheel): 6 parts
IV. Assembly 3(Main Body): 7 parts
ROBOTIC JAW GRIPPER
SWEVEL WHEEL
2ND SUPPORTIVE LINK
Drawing &
Documents
2D Engineering Drawing:
Standard Views:
BASE
2nd Supportive Connecting Rod
1st Supportive Link Rod
GRIPPER BASE
CHALLENGES &
IMPROVEMENTS
Issues faced during modeling &
assembly:
When we thought about to elevate the project, we faced few difficulties during
modeling and assembly. Such as:
1. To get proper measurement of claw cap, carpal gripper we had to import claw
bond from insert.
2. To rotate the wheel after assembling, the wheel didn’t rotate properly. Then the
problem had been solved by subassembly to dissolve sub.
3. The problem we faced most in giving motion which we couldn’t be solved
ultimately.
Lessons learned and possible
enhancements:
Lessons learned:
I. Precise design and modeling
II. Material selections and its effects.
III. Importance of kinematic and motion analysis
IV. Effective constraint management
Possible enhancements:
I. Improve in control system
II. Enhanced actuators and motors
III. Increased degree of freedom
IV. Improved gripper and tools
V. Energy efficient
CONCLUSION
The design of the mentioned project has completely been done on SOLIDWORKS for its
versatility using several tools such as sketch, convent entities, trim, plane, extrude boss
for 3D modeling, providing close round body by loft and cutting required area with
revolve cut or cut extrude etc., all this was used to get the 3D parts of individual design.
After accomplishment of 3D modeling assembly was done parts by parts with necessary
mate relation. Smart dimension was done according has been applied lately in specific
part of the designed project. Thus, the complete articulated robotic arm with flexible
gripper and swivel wheel has been designed.
FINAL THOUGHTS ON DESIGN AND ANALYSIS
The design and analysis of this robotic arm project have provided valuable insights into the
complexities of mechanical modeling, simulation, and optimization. The iterative design
approach allowed for the identification and resolution of key challenges, such as material
selection, mechanical motion constraints. Additionally, the application of SOLIDWORKS for
motion studies, stress analysis, and assembly validation has reinforced the significance of CAD
software in modern engineering. While the current design meets fundamental operational
requirements, future improvements in material efficiency can further enhance performance .
This project serves as a strong foundation for continued research and development.
REFERENCE:
https://youtube.com/playlist?
list=PLPE6SxiX3tFlPkwTtWHKisd8sqGHo-
DEH&si=dZ2lPblVXOC4jE8H
https://youtu.be/klvn1AY_pJA?si=abkQjtGxq1fqsXHg
https://youtu.be/klvn1AY_pJA?si=abkQjtGxq1fqsXHg
