Design an Anthropomorphic Robotic Arm with 4 DOF

Cristopher Giler Vera; Edgar Cedeño Banchón; Jonathan Paillacho Corredores; Tomás Gavilánez Gamboa

doi:10.1007/978-3-031-98890-5_53

Design an Anthropomorphic Robotic Arm with 4 DOF

Cristopher Giler Vera
, Edgar Cedeño Banchón
, Jonathan Paillacho Corredores
, Tomás Gavilánez Gamboa

Sustainability, Management and Regulation of Telecommunications and Energy (SMART-TECH)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Robotics has been a key driver in the evolution of Industry 4.0, with an annual growth rate of 5%. By automating hazardous and repetitive tasks, robots have significantly improved industrial efficiency and business competitiveness. Various robot morphologies and configurations exist in industrial applications, with their effectiveness depending on the specific use case. While six degrees of freedom (DOF) anthropomorphic configurations offer extensive flexibility in positioning and orientation, simpler applications often require robots with fewer DOF. This paper presents the development of a four-DOF robotic arm, detailing the design, simulation (using RoboAnalyzer and Matlab), kinematic analysis, and field testing. The robot’s performance was thoroughly evaluated through repeatability tests, demonstrating that the model achieves sub-millimeter repeatability across a range of load and speed conditions. This work provides a simpler, more accessible alternative for a variety of applications.

Original language	English
Title of host publication	Proceedings of the International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024 - Volume 2
Subtitle of host publication	Emerging Technologies in Communication, Manufacturing, and Renewable Energy Systems
Editors	Marcelo V. Garcia, Carlos Nuñez, Carlos Gordón-Gallegos, John-Paul Reyes
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	901-913
Number of pages	13
ISBN (Print)	9783031988899
DOIs	https://doi.org/10.1007/978-3-031-98890-5_53
State	Published - 2026
Event	6th International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024 - Ambato, Ecuador Duration: 21 Oct 2024 → 25 Oct 2024

Publication series

Name	Lecture Notes in Networks and Systems
Volume	1532 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	6th International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024
Country/Territory	Ecuador
City	Ambato
Period	21/10/24 → 25/10/24

Bibliographical note

Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.

Keywords

4 DOF
CAD
Kinematics
Repeatability
Robotic arm

Access to Document

10.1007/978-3-031-98890-5_53

Cite this

Giler Vera, C., Cedeño Banchón, E., Paillacho Corredores, J., & Gavilánez Gamboa, T. (2026). Design an Anthropomorphic Robotic Arm with 4 DOF. In M. V. Garcia, C. Nuñez, C. Gordón-Gallegos, & J.-P. Reyes (Eds.), Proceedings of the International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024 - Volume 2: Emerging Technologies in Communication, Manufacturing, and Renewable Energy Systems (pp. 901-913). (Lecture Notes in Networks and Systems; Vol. 1532 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-98890-5_53

Giler Vera, Cristopher ; Cedeño Banchón, Edgar ; Paillacho Corredores, Jonathan et al. / Design an Anthropomorphic Robotic Arm with 4 DOF. Proceedings of the International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024 - Volume 2: Emerging Technologies in Communication, Manufacturing, and Renewable Energy Systems. editor / Marcelo V. Garcia ; Carlos Nuñez ; Carlos Gordón-Gallegos ; John-Paul Reyes. Springer Science and Business Media Deutschland GmbH, 2026. pp. 901-913 (Lecture Notes in Networks and Systems).

@inproceedings{2ed8bc08125545ec8225b14d070eb3f4,

title = "Design an Anthropomorphic Robotic Arm with 4 DOF",

abstract = "Robotics has been a key driver in the evolution of Industry 4.0, with an annual growth rate of 5\%. By automating hazardous and repetitive tasks, robots have significantly improved industrial efficiency and business competitiveness. Various robot morphologies and configurations exist in industrial applications, with their effectiveness depending on the specific use case. While six degrees of freedom (DOF) anthropomorphic configurations offer extensive flexibility in positioning and orientation, simpler applications often require robots with fewer DOF. This paper presents the development of a four-DOF robotic arm, detailing the design, simulation (using RoboAnalyzer and Matlab), kinematic analysis, and field testing. The robot{\textquoteright}s performance was thoroughly evaluated through repeatability tests, demonstrating that the model achieves sub-millimeter repeatability across a range of load and speed conditions. This work provides a simpler, more accessible alternative for a variety of applications.",

keywords = "4 DOF, CAD, Kinematics, Repeatability, Robotic arm",

author = "\{Giler Vera\}, Cristopher and \{Cede{\~n}o Banch{\'o}n\}, Edgar and \{Paillacho Corredores\}, Jonathan and \{Gavil{\'a}nez Gamboa\}, Tom{\'a}s",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.; 6th International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024 ; Conference date: 21-10-2024 Through 25-10-2024",

year = "2026",

doi = "10.1007/978-3-031-98890-5\_53",

language = "English",

isbn = "9783031988899",

series = "Lecture Notes in Networks and Systems",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "901--913",

editor = "Garcia, \{Marcelo V.\} and Carlos Nu{\~n}ez and Carlos Gord{\'o}n-Gallegos and John-Paul Reyes",

booktitle = "Proceedings of the International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024 - Volume 2",

address = "Germany",

}

Giler Vera, C, Cedeño Banchón, E, Paillacho Corredores, J & Gavilánez Gamboa, T 2026, Design an Anthropomorphic Robotic Arm with 4 DOF. in MV Garcia, C Nuñez, C Gordón-Gallegos & J-P Reyes (eds), Proceedings of the International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024 - Volume 2: Emerging Technologies in Communication, Manufacturing, and Renewable Energy Systems. Lecture Notes in Networks and Systems, vol. 1532 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 901-913, 6th International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024, Ambato, Ecuador, 21/10/24. https://doi.org/10.1007/978-3-031-98890-5_53

Design an Anthropomorphic Robotic Arm with 4 DOF. / Giler Vera, Cristopher; Cedeño Banchón, Edgar; Paillacho Corredores, Jonathan et al.
Proceedings of the International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024 - Volume 2: Emerging Technologies in Communication, Manufacturing, and Renewable Energy Systems. ed. / Marcelo V. Garcia; Carlos Nuñez; Carlos Gordón-Gallegos; John-Paul Reyes. Springer Science and Business Media Deutschland GmbH, 2026. p. 901-913 (Lecture Notes in Networks and Systems; Vol. 1532 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design an Anthropomorphic Robotic Arm with 4 DOF

AU - Giler Vera, Cristopher

AU - Cedeño Banchón, Edgar

AU - Paillacho Corredores, Jonathan

AU - Gavilánez Gamboa, Tomás

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.

PY - 2026

Y1 - 2026

N2 - Robotics has been a key driver in the evolution of Industry 4.0, with an annual growth rate of 5%. By automating hazardous and repetitive tasks, robots have significantly improved industrial efficiency and business competitiveness. Various robot morphologies and configurations exist in industrial applications, with their effectiveness depending on the specific use case. While six degrees of freedom (DOF) anthropomorphic configurations offer extensive flexibility in positioning and orientation, simpler applications often require robots with fewer DOF. This paper presents the development of a four-DOF robotic arm, detailing the design, simulation (using RoboAnalyzer and Matlab), kinematic analysis, and field testing. The robot’s performance was thoroughly evaluated through repeatability tests, demonstrating that the model achieves sub-millimeter repeatability across a range of load and speed conditions. This work provides a simpler, more accessible alternative for a variety of applications.

AB - Robotics has been a key driver in the evolution of Industry 4.0, with an annual growth rate of 5%. By automating hazardous and repetitive tasks, robots have significantly improved industrial efficiency and business competitiveness. Various robot morphologies and configurations exist in industrial applications, with their effectiveness depending on the specific use case. While six degrees of freedom (DOF) anthropomorphic configurations offer extensive flexibility in positioning and orientation, simpler applications often require robots with fewer DOF. This paper presents the development of a four-DOF robotic arm, detailing the design, simulation (using RoboAnalyzer and Matlab), kinematic analysis, and field testing. The robot’s performance was thoroughly evaluated through repeatability tests, demonstrating that the model achieves sub-millimeter repeatability across a range of load and speed conditions. This work provides a simpler, more accessible alternative for a variety of applications.

KW - 4 DOF

KW - CAD

KW - Kinematics

KW - Repeatability

KW - Robotic arm

UR - https://www.scopus.com/pages/publications/105027053827

U2 - 10.1007/978-3-031-98890-5_53

DO - 10.1007/978-3-031-98890-5_53

M3 - Conference contribution

AN - SCOPUS:105027053827

SN - 9783031988899

T3 - Lecture Notes in Networks and Systems

SP - 901

EP - 913

BT - Proceedings of the International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024 - Volume 2

A2 - Garcia, Marcelo V.

A2 - Nuñez, Carlos

A2 - Gordón-Gallegos, Carlos

A2 - Reyes, John-Paul

PB - Springer Science and Business Media Deutschland GmbH

T2 - 6th International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024

Y2 - 21 October 2024 through 25 October 2024

ER -

Giler Vera C, Cedeño Banchón E, Paillacho Corredores J, Gavilánez Gamboa T. Design an Anthropomorphic Robotic Arm with 4 DOF. In Garcia MV, Nuñez C, Gordón-Gallegos C, Reyes JP, editors, Proceedings of the International Conference on Computer Science, Electronics and Industrial Engineering, CSEI 2024 - Volume 2: Emerging Technologies in Communication, Manufacturing, and Renewable Energy Systems. Springer Science and Business Media Deutschland GmbH. 2026. p. 901-913. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-031-98890-5_53