Modeling, Kinematics, and Trajectory Planning Analysis of a Three-Axis Robotic Arm

Honglin Wang

doi:10.54097/n4gqa792

Authors

Honglin Wang

DOI:

https://doi.org/10.54097/n4gqa792

Keywords:

Three-axis robotic arm; kinematics analysis; D-H parameter method; trajectory planning; industrial automation.

Abstract

Robotic arms are widely used in industrial automation due to their simple structure, high flexibility, and moderate cost, especially in standardized scenarios such as conveyor belt operations. This study focuses on a three-axis robotic arm, addressing the demands of conveyor belt operations through modeling and performance analysis. First, precise structural modeling of the robotic arm was completed using SolidWorks, and its kinematic model was established using the D-H parameter method. Second, trajectory planning of the end-effector was studied based on task-specific requirements, and the variations in joint angles, velocities, and accelerations were analyzed through simulations. Finally, the smoothness of paths and workspace coverage were evaluated via simulations. Results indicate that the three-axis robotic arm can meet the demands of conveyor belt operations with good applicability. However, further improvements in control precision and dynamic stability are needed for more complex, non-standardized scenarios. This study provides theoretical support for the design optimization and broader application of three-axis robotic arms.

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