Design and construction of a 7 DOF serial manipulator using rapid prototyping

摘要

This paper presents the design, analysis and fabrication of a serial manipulator of 7 degrees of freedom. The direct kinematic analysis, reverse and speed differential analysis was performed. The object of study was the fabrication of an arm with rapid prototyping technology using fusion deposition modeling (FDM). A kinematic control interface for user in C# was developed, was implemented planning movements in space of the task with translations straight. Finally this paper detailed some constructive aspects of the robot.