Paper Title
Design, Kinematics and Workspace Analysis of Four Links Articulated Robotic Manipulator

Abstract
The design and kinematics modelling analysis of four links articulated robotic manipulator to carry 1kg payload is presented in this paper. The kinematic model of four links articulated robotic manipulator is built by the method of Denavit-Hartenberg (DH). The DH parameters are used to determine the position and orientation of the end effector for forward kinematic analysis. The algebraic method is used to solve the inverse kinematics problem. This design is constructed by using SolidWorks. Simulation results for the kinematic model using the MATLAB program based on the DH convention were presented. The reachable workspace of this manipulator is presented in this paper. The forward and inverse kinematics are analyzed by using Robo Analyzer and MATLAB. The results of position and orientation of four links articulated robotic manipulator are compared with Robo Analyzer and MATLAB. Keywords - Manipulator Design, Fours links articulated robotic manipulator, DH Parameter, Forward and Inverse Kinematics, Robotic Toolbox, SolidWorks.