Robot kinematics and dynamics analysis

This project investigates and compares the performance of serial and parallel robotic manipulators from both kinematic and dynamic perspectives. The research evaluates key performance metrics including workspace volume, singularity-free workspace, dexterity, manipulability, stiffness, positioning accuracy, payload capacity, velocity and acceleration capabilities, dynamic response, and energy efficiency. The scope of the study includes the design and development of simplified serial and parallel robot architectures with three, four, five, and six degrees of freedom. To focus on the fundamental characteristics of each architecture, the robots are represented using simple bar-and-joint models, where links are modelled as rigid bars connected through ideal joints. Each robot configuration is optimized based on performance criteria such as workspace size and singularity-free workspace while satisfying geometric and kinematic constraints. Mathematical models are developed for kinematic, singularity, and dynamic analyses of each robot configuration. Simulation tools are then used to evaluate and compare the performance characteristics of the optimized designs. The study aims to identify the advantages and limitations of serial and parallel manipulators and establish quantitative performance measures for their evaluation. The outcomes provide insights into the suitability of each architecture for robotic and collaborative robotic applications, particularly where workspace, payload capacity, accuracy, stiffness, and dynamic performance are critical design considerations.