Design and Development of 5 DOF Bio-Inspired Robotic Arm

This research article introduces an innovative modular Robotic Arm that draws inspiration from biological systems and is exclusively derived and constructed by an evolutionary process from a mechanical stem cell. Drawing inspiration from stem cells, this proposal introduces a distinct mechanical stem cell that differs from existing robot "cells" or "molecules". The aim is to advance the field by creating motorized cells, bones, and a muscle based on the Sarrus linking mechanism. The suggested skeleton and muscle system create a bio-inspired, segmental, five-DOF robotic arm. Then, the non-linear transcendental calculations that govern the kinematics of the robotic arm are solved using an arithmetic iterative approach based on an optimization strategy. Next, an arithmetical sample of the future arm for the robot is shown, complete with imitations that showcase the arm's workstation opposite kinematics. Initial motion and manipulation experiments are also performed, and a robotic arm prototype is created and combined with low-level regulator systems. The findings show that the innovative robotic arm performs as expected and has the benefits of being cheaper, taking up less space, being smaller in size and having a more straightforward construction.