Pages: 76-86

Abstract

Today, the use of robots and automation practices are the inevitable choices of industries. Considering this ever-increasing demand, the design and analysis of robots as well as the methods used for such purposes are of high importance. This project designs and analyzes a robot with six degrees of freedom used for glass handling purposes. The selected robot has hinge joints with relative less complex kinematic equations. Thanks to its six degrees of freedom, it has wide workspace (work envelope) proportional to its activities. This robot is analyzed using both direct and inverse kinematic methods in order to validate kinematic calculations.