ArticleSensors (Basel, Switzerland)2025
A Mechanical Structure Design and Simulation-Based Validation of a Novel Compact and Low-Cost 3-DOF Robotic Arm.
Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Authors and funding
4 authors.
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Abstract
This paper presents the mechanical design and simulation-based validation of a novel compact and low-cost 3-DOF dual-arm robotic system tailored for space-constrained applications such as rescue robotics. The proposed design achieves a fully folded footprint of 366 × 226.3 × 100 mm through an orthogonal joint configuration and modular structure, while maintaining a hemispherical workspace for each arm. Key innovations include the following: (1) A cost-optimized architecture with only 3 motors per arm (total system cost ~£2000), enabled by hybrid manufacturing (laser-cut acrylic hull and 3D-printed ASA-CF reinforced links with 3740 MPa flexural modulus); (2) a custom Python-based skeleton modeling tool that automates D-H parameter generation and kinematic analysis, supporting rapid design iteration; (3) verified collision-free operation via point cloud analysis, demonstrating successful target grasping (50 mm objects) and dual-arm coordination despite a 5-20 mm deflection tolerance. The system addresses critical limitations in affordable, deployable manipulators, with future work focusing on 3D printing and part manufacturing in industry applications.
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