Modeling and design of two link robotic manipulator for grading and sorting of rotationally symmetric products

This paper present a design and modeling for a two link robotic manipulator for grading and sorting system. The mechanical design calculation of the robotic manipulator is accomplished firstly to estimate the torques and positions of manipulator that are required to move a certain payloads from one to another position, which is resulted by choosing of the right electrical motors. The mechanical design drawings for this manipulator system are fully done using Autodesk Inventor Software which concerns the real joint of the robotic manipulator. The dynamic equation of the robotic manipulator system is derived using the Lagrange equation which is then represented in the state space method to make simple for utilization in Simulation and real-time systems