Development of a 5DOF robotic arm (RAVebots-1) applied to heavy products harvesting

Results showed that total torque in Joints number 1, 2, 3, 4 and 5 were 6.15, 257.35, 103.4, 20.2 and 0.1 N. m respectively with a rotational speed range of 15 ~ 60 rpm. Changes in the linkage material and servo motor location improved 29.7% ~ 47.7% and 29.7% ~68.9% of the total required torque for each joint. The maximum distance covered by the arm was 1640 mm from the J2 and 1830 mm from the attachment point. According to the feedback received from a reverse kinematics equation algorithm, the fundamental operation of the robot arm had an optimal performance.