Call for Paper - May 2019 Edition
IJCA solicits original research papers for the May 2019 Edition. Last date of manuscript submission is April 20, 2019. Read More

Design of a Three Degrees of Freedom Robotic Arm

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2018
Madiha Farman, Muneera Al-Shaibah, Zoha Aoraiath, Firas Jarrar

Madiha Farman, Muneera Al-Shaibah, Zoha Aoraiath and Firas Jarrar. Design of a Three Degrees of Freedom Robotic Arm. International Journal of Computer Applications 179(37):12-17, April 2018. BibTeX

	author = {Madiha Farman and Muneera Al-Shaibah and Zoha Aoraiath and Firas Jarrar},
	title = {Design of a Three Degrees of Freedom Robotic Arm},
	journal = {International Journal of Computer Applications},
	issue_date = {April 2018},
	volume = {179},
	number = {37},
	month = {Apr},
	year = {2018},
	issn = {0975-8887},
	pages = {12-17},
	numpages = {6},
	url = {},
	doi = {10.5120/ijca2018916848},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


This paper concerns with the design of a three degrees of freedom robotic arm, which is intended to pick and place lightweight objects based on a color sorting mechanism. It is mainly made of three joints, a gripper, two rectangular shaped links, a rotary table and a rectangular platform. The angular rotation of each joint is powered by a servomotor. Furthermore, the angular position of each servomotor shaft is controlled by a signal from an Arduino microcontroller which executes a Matlab code. The Matlab code includes the inverse kinematics equations which are necessary for the determination of the target joint angles for a certain Cartesian position of the end-effector. The robotic arm’s design process included several static and dynamic calculations, mechanical properties calculations and prototype testing in order to provide a final product with well-established structure and functionalities.


  1. Shah, J., Rattan, S. S., and Nakra, B.C. 2013. End-Effector Position Analysis Using Forward Kinematics for 5 DOF Pravak Robot Arm. International Journal of Robotics and Automation 2(3) (Sept. 2013), 112 - 116.
  2. Denavit, J. and Hartenberg, R.S. 1955. A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices. Journal of Applied Mechanics 22 (June 1955), 215 - 221.
  3. Fernini B. 2012. Kinematic Modeling and Simulation of a 2-R Robot by Using Solid Works and Verification by MATLAB/Simulink. International Journal of Robotics and Automation 1(2) (June 2012), 78 - 93.
  4. Subhashini, P.V.S., Raju, N.V.S., and Rao, G. V. 2014. Modeling, simulation and analysis of a SCARA robot for deburring of circular components. ARPN Journal of Engineering and Applied Sciences. 9(4) (April 2014), 398 - 404.
  5. Craig J. 2016. Introduction to Robotics: Mechanics and Control, 3rd ed 2016. Pearson Education International.


Robotic arm, three degrees of freedom, forward kinematics, inverse kinematics, workspace