Kinematic analysis of the Zhugirmek v1.0 robotic arm

Abstract

This paper presents a kinematic analysis of the robotic arm of the Zhugirmek v1.0 humanoid robot. The robotic arm has six degrees of freedom, enabling it to perform a wide range of manipulation tasks. The Denavit–Hartenberg method was used to mathematically describe the spatial motion of the links, allowing the formation of a kinematic model of the manipulator. Forward kinematic equations were derived that determine the position and orientation of the end-effector in space. Based on the developed model, the robotic arm's motion was simulated in MATLAB. The manipulator's working area was analyzed, and its kinematic capabilities were investigated. The obtained results can be used in the development of control systems and further modernization of the Zhugirmek v1.0 humanoid robot.