URK: Utah Robot Kit - A 3-link Robot Manipulator Prototype

Mohamed Dekhil, Tarek M. Sobh, and Thomas C. Henderson

Abstract

In designing robot manipulators, the interaction between several modules (S/W, VLSI, CAD, CAM, Robotics, and Control) illustrates an interdisciplinary prototyping environment that includes different types of information that are radically different but combined in a coordinated way. This paper describes the analysis and design of a 3-link robot manipulator prototype as part of a research project for building a prototyping environment for electro-mechanical systems. This prototype robot will be used as an educational tool in robotics and control classes.