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Forward Kinematic Analysis, Simulation & Workspace Tracing of Anthropomorphic Robot Manipulator By Using MSC. ADAMS

Amit L Talli , B. B. Kotturshettar

The Robot kinematics deals with the position of links which are connected with the help of joints, which gives the position and orientation of every link present in the robot manipulator to place the end-effector to the required target. A kinematic model of the anthropomorphic robot manipulator was developed using multibody dynamic software called MSC. Automated Dynamic Analysis of Mechanical Systems (ADAMS) which represents the human arm. The shoulder joint is considered as spherical joint and elbow joint as a revolute joint. Kinematic equations and Software model is developed to compare and verify the working of the robot manipulator. The Workspace of the robot manipulator was traced to show the maximum and minimum working area of the manipulator. The workspace of the robot manipulator is traced in MSC. ADAMS to show the working region of the manipulator.