Simulation and study of robotic slave arm operating envelope

The simulation of a miniature conceptual seven degree-of-freedom (DOF) robotic slave arm that is able to imitate the seven basic motions of a human arm is performed. The studies on the operating envelope are presented in this paper. The miniature robotic slave arm, a part of the master-slave arm system, is modeled in Solidworks to study the motion of the arm during operation. Simulation is done in Solidworks to justify that the robotic arm designed is able to perform the seven basic motions of a human arm to the intended range of motion. Simulation is also performed for different combination of joint motions to study the maximum reachable distance, the safe operation envelope, of the robotic arm for the X, Y and Z-axis.