4 Axis Robotic Arm

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1

edu_robotic_arm.pdf (6604Bytes)

Hello 
     I am a beginner in robotics and currently I am trying to build a 4 axis robotic arm with rotating base and I need Kinematics Equations for this project . Can anyone help me with this. 

2D model of my robotic arm is attached

2

Try looking

Try looking here:

https://www.github.com/marginallyclever/arm3

3 axis kinematics to get you started.

3

thanks. But my robot

thanks. But my robot consists of 4 axes . Kindly if anyone can help

 

4

The 4th axe doesn’t affect
The 4th axe doesn’t affect the position, only attitude, so you can simply use the 3-axis kinematics for the position, and get the attitude by subtracting from the angle you want the angles of the 2 joints, and setting the 4th joint to that.

5

@deshipuKindly if you could

@deshipu
Kindly if you could elaborate a little . As I have no background in Robotics so not able to understand .

6

There is a gripper attached

There is a gripper attached as end-effector and a motor which moves that gripper up and down for pick and place purpose.

7

I understand your point of 3

I understand your point of 3 axis Kinematics. But as base is rotating that creates the problem for me . I am not sure there are any kinematics of 3 axis with rotating base are available on web