On the Development of a 7-DoF SPP Robotic Arm

A. F. Almurib Haider, Haidar Fadhil Abbas Al-Qrimli, T. Nandha Kumar

Research output: Contribution to conferencePaperpeer-review

1 Citation (Scopus)
202 Downloads (Pure)


This paper describes the mechanical design, analysis, and prototyping of a 7 DoF robotic arm that useselectrical actuators as its muscles. The structure of the arm is a hybrid Serial-Parallel-Parallel (SPP) configuration. The robotic arm is similar in size and structure to the human arm and can imitate the human arm movements; the 3 DoF shoulder has a serial link configuration; the 1 DoF elbow is a parallel configuration; and the 3 DoF wrist has a parallel configuration. Finite element analysis of critical components are also carried out.
Original languageEnglish
Number of pages5
Publication statusPublished - 13 Sept 2011
EventSICE Annual Conference 2011 - Tokyo, Japan
Duration: 13 Sept 201118 Sept 2011


ConferenceSICE Annual Conference 2011


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