Robotics Manipulator
Designing a 4 DoF manipulator and deriving its kinematics.
This project involves designing and analyzing a simple robot with four degrees of freedom (DoF). The goal is to create a feasible design using readily available parts while applying kinematic principles to derive forward and inverse kinematics, the Jacobian, and trajectory planning.
The application of my robotic manipulator is in a kitchen setting, designed to assist in tasks such as stirring a cooking pot or mixing ingredients. The end-effector is an L-shaped rod pointing downward, designed to hold tools like a spoon or pincers.
As the primary goal is to stir, the manipulator aims to follow a loosely circular trajectory — imitating the human stirring motion. It can also adjust its vertical height to insert or remove utensils from the bowl.
