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Design and Development of an Anthropomorphic Robotic Arm for Object Grasping with its Kinematic Analysis.

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Title: Design and Development of an Anthropomorphic Robotic Arm for Object Grasping with its Kinematic Analysis.
Authors: Sridhar, M. E.1 (AUTHOR) 2019kucp1060@iiitkota.ac.in, Singh, Divyansh1 (AUTHOR) 2019kucp1041@iiitkota.ac.in, Mahajan, Akhil1 (AUTHOR) 2019kucp1062@iiitkota.ac.in, Vyas, Monika1 (AUTHOR) 2021krcp1002@iiitkota.ac.in, Kumar, Amit1 (AUTHOR) amit@iiitkota.ac.in, Patil, Ishant G.2 (AUTHOR) ishantpatil03@gmail.com, Tripathi, Isha Pathak1 (AUTHOR) isha@iiitkota.ac.in
Source: Arabian Journal for Science & Engineering (Springer Science & Business Media B.V. ). Oct2025, Vol. 50 Issue 19, p15281-15295. 15p.
Subjects: Kinematics, Degrees of freedom, Industrial robots, Assistive technology, Robot design & construction, Object manipulation, Robotic path planning, Automatic control systems
Abstract: The applications and requirements of a complete robotic arm from shoulder to fingers are obvious for hand disabled people. The reported research toward hardware development and its operations of a complete robotic arm is limited and needs to accelerate for the betterment of society. However, it is a very challenging task to design and develop a human-like five-fingered robotic arm due to more number of degrees of freedom required to provide the sufficient flexibility. It is also challenging to ensure precise autonomous motion of the full arm to following the reference trajectory in order to approach and grasp the object. In this paper, we present the detailed description of the design and development of a 20-DOF (3-DOF shoulder, 1-DOF elbow, 1-DOF wrist, 3-DOF thumb and 3-DOF each finger) robotic arm. The main objectives are to develop a human-mimic robotic arm having higher degrees of freedom, competitive physical capabilities and able to perform precise motion while approaching and grasping an object. The presented robotic arm is designed in SolidWorks and implemented using ROS library. The mathematical analysis of its kinematics is also provided to design the control system and motion planning algorithms as per the requirement. A novel motion planning and control algorithm is also introduced to govern the motion of the full arm and perform accurate grasping. The performance of the developed robotic arm is compared with the existing arms on the basis of accuracy in motion while approaching and grasping an object. It has been observed that the physical strength of the developed arm is quite competitive, while it outperforms others in motion accuracy. Results have been verified by the hardware experiments and further validated by the statistical technique. [ABSTRACT FROM AUTHOR]
Copyright of Arabian Journal for Science & Engineering (Springer Science & Business Media B.V. ) is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Design and Development of an Anthropomorphic Robotic Arm for Object Grasping with its Kinematic Analysis.
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  Data: <searchLink fieldCode="AR" term="%22Sridhar%2C+M%2E+E%2E%22">Sridhar, M. E.</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> 2019kucp1060@iiitkota.ac.in</i><br /><searchLink fieldCode="AR" term="%22Singh%2C+Divyansh%22">Singh, Divyansh</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> 2019kucp1041@iiitkota.ac.in</i><br /><searchLink fieldCode="AR" term="%22Mahajan%2C+Akhil%22">Mahajan, Akhil</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> 2019kucp1062@iiitkota.ac.in</i><br /><searchLink fieldCode="AR" term="%22Vyas%2C+Monika%22">Vyas, Monika</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> 2021krcp1002@iiitkota.ac.in</i><br /><searchLink fieldCode="AR" term="%22Kumar%2C+Amit%22">Kumar, Amit</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> amit@iiitkota.ac.in</i><br /><searchLink fieldCode="AR" term="%22Patil%2C+Ishant+G%2E%22">Patil, Ishant G.</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> ishantpatil03@gmail.com</i><br /><searchLink fieldCode="AR" term="%22Tripathi%2C+Isha+Pathak%22">Tripathi, Isha Pathak</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> isha@iiitkota.ac.in</i>
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  Data: The applications and requirements of a complete robotic arm from shoulder to fingers are obvious for hand disabled people. The reported research toward hardware development and its operations of a complete robotic arm is limited and needs to accelerate for the betterment of society. However, it is a very challenging task to design and develop a human-like five-fingered robotic arm due to more number of degrees of freedom required to provide the sufficient flexibility. It is also challenging to ensure precise autonomous motion of the full arm to following the reference trajectory in order to approach and grasp the object. In this paper, we present the detailed description of the design and development of a 20-DOF (3-DOF shoulder, 1-DOF elbow, 1-DOF wrist, 3-DOF thumb and 3-DOF each finger) robotic arm. The main objectives are to develop a human-mimic robotic arm having higher degrees of freedom, competitive physical capabilities and able to perform precise motion while approaching and grasping an object. The presented robotic arm is designed in SolidWorks and implemented using ROS library. The mathematical analysis of its kinematics is also provided to design the control system and motion planning algorithms as per the requirement. A novel motion planning and control algorithm is also introduced to govern the motion of the full arm and perform accurate grasping. The performance of the developed robotic arm is compared with the existing arms on the basis of accuracy in motion while approaching and grasping an object. It has been observed that the physical strength of the developed arm is quite competitive, while it outperforms others in motion accuracy. Results have been verified by the hardware experiments and further validated by the statistical technique. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of Arabian Journal for Science & Engineering (Springer Science & Business Media B.V. ) is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1007/s13369-024-09796-8
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      – Code: eng
        Text: English
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        PageCount: 15
        StartPage: 15281
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      – SubjectFull: Kinematics
        Type: general
      – SubjectFull: Degrees of freedom
        Type: general
      – SubjectFull: Industrial robots
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      – SubjectFull: Assistive technology
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      – SubjectFull: Object manipulation
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      – SubjectFull: Automatic control systems
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              Text: Oct2025
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