A Low-Cost Robotic Arm Manipulator Model for Enhancing Student Learning in an Industrial Robots Course

Recent years have seen a rise in the importance of the field of robotics, therefore students need to understand its basic concepts. Forward and inverse kinematics, which are essential components of robotic arm control, must be understood in order to design and program a robotic arm manipulator. To help students understand these concepts, this study proposes a low-cost robotic arm model. The robotic arm model is simple to build, inexpensive, and flexible, allowing students to experiment with various configurations and test various kinematic concepts. The model consists of a 3 DOF RRR (3 revolute joints) robot, pro-viding students with a 3D view of the D- H (Denavit-Hartenberg) parameters. As the robot moves, students can observe and visualize parameters such as the twist of the link $a$ and the angle of the joint (). This improves students' understanding of the concept of D-H parameters. The proposed robotic arm model can be used to teach students about the basics of robotic arm manipulators while also serving as a less expensive substitute for more expensive commercial models. The D-H parameters, forward and inverse kinematic analysis can be explained using the model, which can also help students comprehend these fundamental mathematical concepts. In general, this inexpensive robotic arm model gives students a practical and convenient approach to advance their robotic knowledge and abilities. According to the results of our study, the use of the proposed model in an industrial robots course can greatly enhance students' learning outcomes. The model gives students practical experience and enables them to apply theoretical ideas in a reality, which improves their comprehension of the subject. Also, it was discovered that the model was a useful tool for involving students in the learning process and boosting their motivation to study. Our research implies that, especially in situations where access to expensive equipment is restricted, using a low-cost robotic arm manipulator model can be a useful addition to industrial robots courses.