Kinematic Analysis of Open-Source 5 DoF Robot Arm (original) (raw)

Today, it is especially estimated that robots will be more than 2 million between 2018-2021, with their increasing use in the industry, in the world. In the industrial environment, robots are used to neutralize toxic substances, explosives, or to replace certain repetitive tasks in the industry for human intervention. On the other hand, robotic systems are used in different areas such as office environment, military duties, and use in hospital environments. It is widespread the use of open-source design robot day by day, in addition to the increasing use of robots, which have invaluable effective uses in complex or dangerous processes. The use of open-source robotic systems is cheaper, developable, and has no usage restrictions due to copyright compared to equivalent robots used in the industry. For these reasons, in our study, a robotic arm with 5 degrees of freedom, printed with 3D printers at industrial scales, was developed. The printed robotic arm was developed to be used as an auxiliary equipment for hospital staff, especially in today's hospital environment. Kinematic analysis is required to determine the working space of the developed robotic arm. The working space of the robotic arm, which is intended to be used as auxiliary equipment in the hospital environment, was revealed by kinematic analysis.