RESEARCH OF CONTROLLED MOVIES OF 2.5 DOF ARTICULATED ROBOT ARM.

The demand for robots in industry and manufacturing is constantly increasing i.e. more than 80% of the world's robots are used in industry, and especially robotic arms are now adaptable, that are able to perform a variety of quick and exact tasks. So the aim of this paper is to reveal this year's most developed robotics arm's capabilities and the object of research is 2.5 DOF (degrees of freedom) robot arm. Manipulators design composes two links which are attached to a horizontal surface with a drawing or an engraving instrument at its end. For the first link, the electric engine transfers the movement vertically through muff which is connected with the engines axle, and the second muffs part with screws connect to the first link. For the second link, the electric engine transfers the movement horizontally through strap transfer, which first strap transfer gear connects on to the engines rotor, and the second gear connects on to an axle, which rotates the second link. Analysis of this paper consists of two parts, i.e. analysis of mathematical model of this robot arm and analysis of model dynamics. The mathematical design of robotic arms made using „Matlab Simulink" Mathematical model, which allows to do gear control voltages and calculate currents, momentums, links angular speed, angles and robot arms' end point position variation in time. Moreover, analysis results of this research paper shows the maximum linear speed and time needed to reaches a nominal speed of each [ABSTRACT FROM AUTHOR]