Design and Fabrication of 5-DOF Robotic Arm with Mechanical Gripper

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@article{1709320,
      author = {Yogesh Kumar. C, Dr. R. Uday Kumar},
      title = {Design and Fabrication of 5-DOF Robotic Arm with Mechanical Gripper},
      journal = {Iconic Research And Engineering Journals},
      year = {2025},
      volume = {8},
      number = {12},
      pages = {1027-1033},
      issn = {2456-8880},
      url = {https://www.irejournals.com/formatedpaper/1709320.pdf},
      abstract = {This article introduces the design, modification, and kinematic analysis of an affordable articulated robotic arm with five degrees of freedom (5-DOF) and a mechanical gripper for handling and pick?and place operations. Focused on modularity and reconfigurability, the arm was designed using CAD tools and built from extruded aluminium profiles and 3D-printed plastic parts, ensuring robustness, accuracy, and portability. A full kinematic model, which constructs the motion and joint limitations, including forward and inverse kinematics, of the device, was produced and simulated in MATLAB. The control system which was comprised of an ESP-32 microcontroller and two servo motors, made it possible to perform?the programmed sequences in real time with equal precision and stability. The gripper was made adjustable in any mold size and shape to ensure the mechanical limitations of two-stage gripper grips processing it with an adaptable grip. As a crucial part of the experiment, the experimental validation proved the effectiveness of the arm for repetitive industrial operations like sorting, assembly, or pick and place applications. Overall, the prototype makes a useful and economic contribution to education, research, and small-scale industrial practices, bridging the gap between theoretical robotics and actual application.},
      keywords = {5-DOF Robotic Arm, Mechanical Gripper, Kinematic Analysis},
      month = {June},
  }