Jurnal Teknik Mesin
Vol 9, No 1 (2019)

Kinematic Analysis of A 4-Axis Manipulator Design with 2-Axis Gripper

Asmara Yanto (Institut TeknologiPadang)
Rozi Saferi (Institut Teknologi Padang)
Anrinal Anrinal (Institut Teknologi Padang)
Fikri Azhar (Institut Teknologi Padang)

Article Info

Publish Date
31 Oct 2018


The purpose of this work is to analyze the kinematic of a manipulator that was designed to has four revolute movements (R1, R2, R3 and R4) and is equipped with a gripper that has one revolute movement (R) and one prismatic movement (P). The analysis was conducted by varying R1, R2, R3 and R4 of manipulator and R and P of gripper. Kinematic analysis was carried out using the Forward Kinematics method based on DH-Parameters of manipulator and gripper. Manipulator was designed to be consist of 120 mm of Link-1, 200 mm of Link-2, 250 mm of Link-3 and 250 mm of Link-4. Revolute movements range of manipulator was designed for variation of R1, R2, R3 and R4, and with movements range of gripper for variation of R and P. From this work can be concluded that manipulator has 228.5 mm of minimum range radius of end-effector and 547.0 mm of maximum range radius of end-effector.

Copyrights © 2019

Journal Info





Mechanical Engineering


Jurnal Teknik Mesin (JTM) is a journal aims to be a peer-reviewed platform and an authoritative source of information. We publish original research papers, review articles and case studies focused on mechanical engineering and other related topics. All papers are peer-reviewed by at least two ...