Year & Branch: TY Elex and ETC Subject: Robotics Subject Code: EL and ET3204

Experiment 1
Title: Robot configurations and Degree of Freedom.

Aim: Simulation of various Robot configurations using Roboanalyzer.

Objective:
1. To Familiarize with GUI in Roboanalyzer.
2. To study Robot configuration.
3. To develop geometric work spaces: cone, sphere and helix using forward kinematics.

Theory:
1. Write on significant features of Roboanalyzer (Reference Roboanalyzer manual)
2. Write in short about:
1. Robot Configurations.
2. Degree of Freedom
3. Types of joints
4. Robot Specifications
5. By selecting 2P and 2R configurations, note down D-H parameters respectively.

Procedure:
Software Installation
Step 1: Visit http://www.roboanalyzer.com
Step 2: Click on Downloads tab
Step 3: Click on RoboAnalyzer V7 (or latest version) to download a .zip file
Step 4: A popup window will appear. Select the folder where the file has to be saved
and click on Save
Step 5: After downloading is complete, unzip RoboAnalyzer7.zip to any folder on
your computer. Open the folder RoboAnalyzer7
Step 6: Double‐click on RoboAnalyzer.exe to start Roboanalyzer.

To perform animation of the robot motion between two sets of initial and final
values of joint variables, following steps are followed.
i. Set the initial and final values of joint variables
ii. Set Time Duration and Number of Steps
iii. Click on FKin button
iv. Click on Play button to see the animation
Result:
Enclose the workspace developed using Forward Kinematics.
Conclusion: