Abstract

In this paper, the development of the work-space, work-space envelope, trajectory generation of a 2-axis planar articulated robot arm for various operating conditions is presented. The goal of this paper is to create a detailed trajectory model for a fixed-scale, two-axis planar articulated robot arm, or mini-drafter. The main goal is to design a flexible workspace that can accommodate various operation environments. For the mini-drafter to move around its work area efficiently, trajectory generation will be a crucial component. Strict mathematical modelling will be used in this research to account for the dynamical and mechanical limitations of the 2-axis planar articulated robot arm. The mini-drafter's attainable points and orientations will define the work area, taking into account the set size needed to ensure accuracy while drafting activities are completed. In addition, an analysis of the work-space envelope will be conducted in order to pinpoint any possible constraints and refine the design for realistic use. To increase the minidrafter's adaptability in diverse situations, special consideration will be given to allowing for a range of operating circumstances. The creation of algorithms that can effectively guide the minidrafter along desired routes inside the designated work-space is a necessary step in the trajectory generation process. This entails including energy-efficient, fast, and accurate parameters into the trajectory planning. The technology of planar articulated robot arms will improve with the successful completion of this project, especially in the context of mini-drafters. The created trajectory model will find use in drafting, design, and other related industries where accurate and controlled movements are necessary. The simulation results shows the effectiveness of the methodology that has been developed by the research team and also compared with the work done by others to show its effectiveness.