International Journal For Multidisciplinary Research

E-ISSN: 2582-2160   •   Impact Factor: 9.24

A Widely Indexed Open Access Peer Reviewed Multidisciplinary Bi-monthly Scholarly International Journal

Call for Paper Volume 7, Issue 4 (July-August 2025) Submit your research before last 3 days of August to publish your research paper in the issue of July-August.
Submit Research Paper Join as a Reviewer

Plagiarism is checked by the leading plagiarism checker TurnItIn

Call for Paper

Volume 7 Issue 4
July-August 2025

Submit your research paper

Indexing Partners
Academia Advanced Sciences Index Bielefeld Academic Search Engine CiteSeer DRJI Google Scholar Independent Search Engine & Directory Network ISI (International Scientific Indexing) Issuu Mendeley Research Networks
RefSeek ResearcherId - Thomson Reuters ResearchGate Scirus Scribd Semantic Scholar UTeM - Universiti Teknikal Malaysia Melaka Wiki for Call for Papers WorldCat Zenodo

Design and Structural Evaluation of a 6-DOF Robotic Arm

Author(s) Prof. Dr. Ismail Bogrekci, Prof. Dr. Pinar Demircioglu, Mr. Erberk Uyar
Country Turkey
Abstract This study lays out the design of a robotic arm with six degrees of freedom created to automate the battery swapping operation of unmanned aerial vehicles (UAVs) employed in agriculture. Because UAVs have limited flight capability, the batteries need to be changed frequently, affecting negatively the continuity and efficiency of operations. The robotic arm designed was 3D-modeled in SolidWorks and put through transient structural analyses in Ansys to determine its behavior in actual conditions.
A specially designed cycloidal gear system was incorporated in every joint of the robotic arm for high torque output, low backlash, and compactness. The robot's modular design makes it suitable for different UAV models and mission scenarios. The selection of materials was done considering strength, weight, and manufacturability, and the outer housing is made of aluminum A356, while internal parts are made of 1.8550 steel alloy. The gripper at the end-effector is pneumatically actuated and capable of handling battery modules of up to 12 kg safely.
Inverse kinematics solutions, dynamic simulations, and transient load analyses validated the structural stiffness, low displacement, and high precision of the robotic arm. The findings confirm the effectiveness of the system for field applications, and it is a feasible and novel approach to automated UAV battery replacement in agriculture.
Keywords Robotic Arm, Cycloidal Gear, UAV, Battery Replacement, Inverse Kinematics, Transient Analysis.
Field Engineering
Published In Volume 7, Issue 4, July-August 2025
Published On 2025-07-15
DOI https://doi.org/10.36948/ijfmr.2025.v07i04.51174
Short DOI https://doi.org/g9s9sr
View / Download PDF File

Share this



E-ISSN 2582-2160
CrossRef

CrossRef DOI is assigned to each research paper published in our journal.

IJFMR DOI prefix is
10.36948/ijfmr

Downloads
Research Paper Format Copyright Permission Form and Undertaking Form Cover Page Vol 7 Isu 4Cover Page Vol 7 Isu 3Cover Page Vol 7 Isu 2

All research papers published on this website are licensed under Creative Commons Attribution-ShareAlike 4.0 International License, and all rights belong to their respective authors/researchers.

CC-BY-SA Open Access

About IJFMR
Fees & Payment
Current Issue
Publication Archive 		Submit Research Paper
Track Submission Status
Publication Guidelines
Publication Ethics
Peer Review & Plagiarism 		Join as a Reviewer
Editors & Reviewers
Reviewer Referral Program
Get Reviewer Membership Certi. 		Website/Journal Policies
Usage Policy
Content Policies
Privacy Policy
Contact Us +91-9687-828-838 editor@ijfmr.com