Design and implementation of a robot hand for service purposes

Abstract

The paper focuses on designing and implementation of an interactive robotic arm for pick and place and service applications. The robot is expected to have image processing and voice recognition capability. Therefore once an object is placed on the coordinate plane of the robot, it has the ability to detect the colour or shape of the body, calculate its coordinates and then lift the object. The manipulator moves the end effector to the final position using inverse kinematics calculation of each joint angle. The mechanical structure is simulated using forward kinematics and for this Denavit-Hartenberg parameter method is used for the proposed design and hence the mechanical structure is simulated in MATLAB and SolidWorks. Forward kinematics analysis is done through Robotics Toolbox and Matlab. Manipulator is implemented according these parameters chosen according to the design requirements and assessed the scope of the robot arm.