Mechanical EngineeringIn Progress

6-Axis Industrial Robot Arm

Design of a 6-axis industrial robot arm including DH parameter definition, forward/inverse kinematics, Jacobian-based dynamics, harmonic drive selection, and structural FEA.

Project Highlights

  • 1
    Full DH parameter kinematic model
  • 2
    Inverse kinematics solver
  • 3
    Joint torque calculations for motor selection
  • 4
    Repeatability error budget per ISO 9283

Project Details

Status

In Progress

Category

Mechanical Engineering

Tech Stack

SolidWorksPythonRoboticsISO 9283

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