Computer aided kinematic analysis of a robotic arm

The first emerge of the primitive mechanisms are at the same beginning period of the human history. Human beings met with problems and in order to solve these, they have produced some tools. For example, as to tie the stone on the pole of the stick was also a mechanism in order to make it a hammer and use it to provide the necessities. However, all of the further made tools and mechanisms have wrapped to complex and modern shapes and human beings have started to make what is in their mind, a part of life in a systematic manner as drawing them to the sheets rather than doing just at that time. With the spread of the computers, it has been easier to design and the 3D design is the last point of the design issue. Through the 3D design, the computer aided static & dynamic analysis programs have been also emerged.In this way, it could be enough to perform a simulation and study the motion for the designed mechanisms instead of directly manufacturing. The positions of the members compared to together, displacements and velocities could be found without messing with the complex equations of the forward and reverse kinematic. To perform the analysis of the mechanisms on computer obtains to reach the true solution, shorten the project time and reduce the costs at once.In this study, the movement capability of a robotic arm has been reviewed in the ADAMS® programme. The aim of a robotic arm is to take an object from a location which coordinates are known and to put the object to a location which coordinates are also known. The study of the angles which are made by the joints of the robotic arm in order to perform this movement is a reverse kinematic problem. In case of solving this problem, the deviations of the angles according to time have been simulated in ADAMS® as plotting related graphs. To verify the situation, we have obtained the coordinates of the object as noting the joint angles in a known time (second in taking the object) and putting them in to the forward kinematic equations. Also, in order to give examples for the people who study ADAMS®, two simple mechanism analyses have been presented as attached.