Design and Implementation of a 6-DOF Intelligent Single-arm Robot

The design and implementation of single-arm robots are crucial offshoots of modern industry. It is of great significance that the device mentioned above could replace people to complete a great deal of complicated and dangerous industrial operations. Instead of the analysis and the introduction of the mechanical structure of designing a robotic manipulator itself, the existing literatures mostly pay their attention on the kinematics and dynamics modeling and control problems of the robots, giving no essential usefulness to the serious of problems in designing and actualizing the specific-function-oriented robots in special work environment or for particular operating purpose. In addition, the traditional methods proposed before of handling forward kinematics and inverse kinematics of those robots are either complex in modeling or hard to ensure the ideal real-time performance. To this end, by elaborately analyzing the characteristics of geometric model of single-arm-and-multi-DOF cascaded robotic manipulator, the paper introduces the design principles of the robots in different using background and proposes an intelligent real-time scheme of calculating forward and inverse kinematics based on neural network, through which we provide readers with complete instructive guidelines in designing and implementing a single-arm robot.