The problem 4-DOF Robotic Arm 3D Printer solves

Specs

The robotic arm is of 4dof configuration. It can traverse cubic and trapezoidal trajectories forming both simple as well as complex patterns with relative ease. It can be used in the 3D printing industry.

Tools Used

We've used Simulink for the simulation of the robotic arm and Matlab to manipulate the DH parameters so as to create elaborate patters.

Algorithm Used

Recursive inverse kinematic algorithm has been employed as it's one of the least computationally complex ways.

Challenges we ran into

The Pandemic

The COVID pandemic has made it impossible for doing the fun stuff - A physical implementation.
However that didn't stop us from doing the simulation although it wasn't half as fun.

The End Effector

The end effector of the robot arm which we modelled had a defect which took hours to resolve.