Design and Fabrication of Robotic arm for Multiple Degrees of Freedom Control

Abstract

This paper details the design, construction, and evaluation of a highly flexible, high-precision robotic arm primarily used in prosthetic and rehabilitation engineering applications. The robotic arm was designed using 3D printing and SolidWorks and features a modular design that simplifies the manufacturing process and improves scalability. The arm has three degrees of freedom and is realized by a well-designed circuit program integrating ESP32 and STM32 microcontrollers. The structural integrity and functionality of the arm were verified through finite element analysis and kinematic simulation. The study also presents a novel path-planning algorithm for the robot arm, which is based on linear position and Gaussian velocity models and is effective in generating smooth, continuous, and physically constrained paths. This work provides an open-source solution that offers a cost-effective and robust platform for diverse robotics applications.