Modeling, analysis and trajectory planning of a 5 degree of freedom robotic arm for a transmission line crossing robot

Abstract

Robots are used to provide help in unsafe, repetitive and dreary situations. This paper concentrates on a robotic arm which can be utilized for crossing of the dead wire structure to the jumper cable of an electrical transmission line. In order to achieve a good positional accuracy of the end-effector, the robotic arm is modeled and analyzed. Denavit-Hartenberg (DH) representation is used for the kinematic modeling and Lagrangian-Euler (LE) method for the dynamic modeling. Since the kinematic and dynamic modeling of robotic arm is highly nonlinear in nature, the optimum trajectory planning is a challenging issue in almost all obstacle avoidance problems. In trajectory planning, the desired trajectory needs to be followed for end-effector positioning. This paper presents kinematic modeling, dynamic modeling, workspace analysis and trajectory planning of a 5 Degree of freedom (DOF) robotic arm. The robotic arm is designed using SolidWorks 2014 software. The complete analysis of the proposed manipulator is simulated using MATLAB Software.