Simulation-Based and Kinematics Analysis of a 5-DOF Robot for Medical Applications

Abstract

Robots are employed to achieve many tasks. Robots are important in many industrial and medical applications as they are employed to achieve enormous tasks. In the current research, SolidWorks and RoboAnalyzer are employed to get the optimum performance of a five-degree-of-freedom (5-DOF) robot manipulator. The Denavit-Hartenberg table is prepared. SolidWorks is used to model the robot, then RoboAnalyzer is employed to analyze the robot. The trajectory of the robot is plotted. The angular displacements, velocities, and accelerations are plotted along the trajectory. Also, the driving torque of the five joints is evaluated. The position of the end effector is plotted along the trajectory time. RoboAnalyzer is employed to investigate the robot arm easily and accurately to reach the optimal design. It is observed that the 3-dimensional software saves the effort and time of studying the robot, and develops a high-quality design for industry requirements. The proposed design aims to obtain sufficient flexibility that enables us to use it in medical applications such as ultrasound treatment, rehabilitation, surgery, and coronavirus swabs with small possible dimensions. These uses take use of the robot's capacity to move and manipulate precisely, frequently with the help of image guidance, to increase surgical precision, improve rehabilitation results for patients, and lessen the physical strain on therapists. Also forward kinematics is investigated analytically using the transformation matrix method and numerically using RoboAnalyzer. A comparison between the two techniques is conducted to prove the simplification of the RoboAnalyzer software.