The Effect of Adding a One Degree of Freedom to a Robotic Manipulator

The morphology of industrial robots is a topic that many researchers are analyzing. Robots cinematic of 6 and 7 DOF can be compared to determine its advantage and applicability. The purpose of this project is to compare the effect of adding a one degree of freedom end effector to a six degree of freedom robot, in order to understand the kinematic advantages that this represents. The method proposed in this work consists of adding a degree of freedom to the same robot to statistically compare if there is a significant difference between the two systems. The data for the statistical analysis were extracted by means of solidworks motion simulations. By performing the statistical tests of normality, sign test and t-student test as appropriate, it was shown that there are no significant differences in the systems. It is concluded that the kinematic characteristics are not a relevant parameter for the selection between the two systems based on the statistical tests.