Abstract

This study discusses the design and validation of a planar two-degree-of-freedom (2-DoF) manipulator using the Denavit-Hartenberg (D-H) approach for forward kinematics (FK) and inverse kinematics (IK) formulation.The model is developed integratively between CoppeliaSim simulation and a physical implementation based on Arduino Uno, controlling an MG996R servo at Joint 1 and an SG90 servo at Joint 2. Dynamic analysis results show that the maximum gravitational torques of 0.039 Nm and 0.0098 Nm are well below the servos' stall torque capacities ( 1.0 Nm and 0.18 Nm), providing safety margins of 25.6 and 18.3respectively.Kinematic validation tests yield an RMSE-XY of 2.9 mm with a maximum error of 6.0 mm, confirming the system's precision within experimental tolerance limits.The main contribution of this research lies in the application of an ontology-driven robotic design approach that unifies physical elements, kinematic-dynamic parameters, and configuration knowledge into an ontologycal semantic framework that is traceable and replicable for educational robot development and advanced research.

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