Customization and Adaptability of DH-Notated Robotic Arms in Specialty Food Production

Abstract

Robotic arms have gained significant traction in the food industry, primarily due to their potential to optimize efficiency, productivity, and safety. This abstract delineates the development and deployment of a specialized robotic arm system tailored explicitly for food industry applications, employing the Denavit-Hartenberg (DH) notation for kinematic modeling. The DH notation furnishes a structured framework for delineating the kinematic configuration of robotic manipulators, facilitating meticulous control and analysis. This notation enables the precise definition of the robotic arm's geometry, joint parameters, and motion characteristics, thereby enabling accurate simulation and control. This study expounds upon the intricate kinematic analysis and design considerations entailed in crafting a robotic arm adept at tasks like sorting, picking, packing, and palletizing within food processing facilities. DH parameters are harnessed to establish transformation matrices between successive links of the robotic arm, enabling the computation of end-effector positions and orientations.