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Project Goal:
Project Goal:
Design a concept-level 5-DOF robotic arm capable of precise positioning of a needle-based end effector, exploring the feasibility of automated acupuncture through kinematic design, motion validation, and structural analysis.
Role & Responsibilities:
Role & Responsibilities:
Developed full robotic arm architecture and joint layout
Created CAD models and assemblies in SolidWorks
Conducted motion studies and static FEA to evaluate feasibility and constraints
Project Overview
Project Overview
The robotic arm is designed with five rotational degrees of freedom, inspired by human-arm kinematics, to enable controlled reach, orientation, and tool alignment. The system emphasizes repeatability, stiffness, and positioning accuracy at the end effector while maintaining a compact footprint suitable for clinical environments.
Skills
Skills
CAD & assembly modeling (SolidWorks)
Kinematic design and DOF planning
Motion study and range-of-motion validation
Static finite element analysis (FEA)
Structural design for stiffness and lightweight systems
Specifications
Specifications
5-DOF articulated rotary arm
Precision needle end-effector (concept design)
Lightweight structural members for reduced inertia
Fixed base mounting for stability
Kinematic Design & Motion Study:
Kinematic Design & Motion Study:
A motion study was conducted to verify joint articulation, reachable workspace, and tool orientation across representative task trajectories.
Objectives:
Objectives:
Validate reachability without singular configurations
Ensure joint limits support common approach angles
Confirm collision-free articulation at the tool tip
Outcome:
Outcome:
Arm geometry supports a smooth approach and orientation of the needle end effector
Motion constraints identified for future control and safety logic development
Robotics Arm Motion Study.mp4Motion study validating the reachability and orientation of the needle end-effector across a representative approach trajectory.
Structural Analysis (Concept Validation):
Structural Analysis (Concept Validation):
Static finite element analysis was performed to assess structural feasibility under representative loading conditions applied at the end effector.
Displacement Analysis: Evaluated overall stiffness and end-effector deflection to understand positioning stability.
Strain Analysis: Identified regions of localized deformation to guide future geometry refinement.
Stress Analysis: Compared von Mises stress distribution against material limits to flag high-stress transitions and joint-adjacent features.
Key insights:
Key insights:
Long-link sections dominate tool-tip deflection
Stress concentrations occur near geometric transitions
Structural performance is acceptable for a concept design but would require refinement for real-world deployment
Displacement Analysis
Strain Analysis
Stress Analysis
Tools & Methods:
Tools & Methods:
CAD & Assembly: SolidWorks
Motion Study: SolidWorks Motion
Structural Analysis: SolidWorks Simulation (static FEA)
Limitations & Future Work:
Limitations & Future Work:
This project represents a design and feasibility study only. Future work would include:
Closed-loop force and depth sensing at the end effector
Compliance and safety mechanisms for patient interaction
Joint-level actuation selection and control modeling
Prototype fabrication and experimental validation
A more detailed account of this project can be found here:
The Design and Study of 5-DOF Robotic Arm with Acupuncture End Manipulator.pdfPage updated
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