Designed a 3-DoF robotic arm for assistive object retrieval; developed CAD models and Python-based coordinate transformation algorithms using rotation matrices.

Author(s)	Mr. Kiyan Maulik Vora
Country	India
Abstract	Designed a 3-DoF robotic arm for assistive object retrieval using Onshape CAD and 3D printing. Developed Python algorithms using NumPy to implement rotation matrices and homogeneous transformations. Extended the model to support rotations about arbitrary pivot points. Tested coordinate transformations through mathematical and geometric validation. Explored applications in assistive robotics and identified pathways towards integrating physical arm geometry with computational control.
Keywords	Robotics, Assistive Technology, 3-DoF Robotic Manipulator, CAD Design, Python Programming, NumPy, Rotation Matrices, Homogeneous Transformation Matrices, Coordinate Transformations, Computational Modelling, 3D Printing, Robotic Kinematics.
Field	Physics > Mechanical Engineering
Published In	Volume 8, Issue 5, September-October 2026
Published On	2026-10-14
DOI	https://doi.org/10.36948/ijfmr.2026.v08i05.89763

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