Let us discuss the structural calculations performed during the material-selection stage of the MMV1. In this section, I analyze the use of a 15 mm carbon-fiber rod as the primary shaft supporting the manipulator links. To estimate the resulting shaft deflection under controller-derived loading, the analysis begins with the classical Jacobian relationship between joint-space torque and Cartesian force. Figure 1. Unknown Bearing Reactions in the MMV1 Base-Frame Shaft Assembly

Hand-calculating area moments of inertia for compound cross sections can become tedious very quickly, especially when the geometry is not a simple rectangle, circle, or standard beam section. During my structural mechanics and mechanical design work, I wanted a more general way to compute section properties without repeatedly decomposing shapes and applying the parallel-axis theorem by hand. To solve this, I created the AMOI Calculator, a MATLAB function that computes the are

Introduction The Marcinczyk Manipulator V.1. (M.M.V.1) is a four-degree-of-freedom robotic manipulator developed to investigate the relationship between rigid-body dynamics, electromechanical actuator behavior, and low-level feedback control. Its independent generalized coordinates are defined as where r represents the radial prismatic displacement, θ1 and θ2​ describe the primary revolute-joint motion, and ϕ represents the azimuthal rotation of the manipulator base. The syst

A step-by-step guide for arbitrary robotic manipulator Required Tools: A Computer with a Programming Language A Symbolic Toolbox Package (Not mandatory, but STRONGLY recommended.) Hello everyone, in this post, I will be discussing how you can make your own personalized Gradient Descent Time Horizon - Pontryagin’s Mininum Principle (GDTH-PMP) control algorithm. This algorithm is strongly intertwined with the fundamental principles of Calculus of Variations, and as such, all

Introduction As part of the mechanical design phase for my robotic arm, it's critical to ensure that the structure can withstand applied loads. While I'm still building experience with Finite Element Analysis, I'm highly proficient in MATLAB — so I developed a generalized reaction solver to streamline the verification process. This MATLAB-based app computes reaction forces for systems with two or more unknowns and supports both symbolic and numeric analysis. It handles both