The Design and Model of a 6DOF Industrial Robotic Arm for Cutting Applications

Abstract

This thesis presents the design and development of a 6DOF laser cutting robotic arm, emphasizing its kinematic modeling, trajectory smoothing, and MATLAB use to for testing. A 3D model is created using SolidWorks. Kinematic analysis employs Denavit-Hartenberg (DH) parameters to establish transformation matrices between joints and the end effector. Matlab was used for trajectory smoothing, optimizing motion paths for precision, efficiency, and reduced mechanical wear. Simulation and experimental validation confirm improved cutting speed and accuracy, making the arm suitable for high-precision manufacturing applications.