3D-RAS: A New Educational Simulation Tool for Kinematics Analysis of Anthropomorphic Robotic Arms*

The present work launches a new educational simulation tool aimed at making kinematic analysis of anthropomorphic robotic armsmore attractive and practical. This work focuses on the development of a new educational simulation tool for the ‘‘Robotics’’ subject in the third year of the ‘‘Computer Engineering’’ and ‘‘Electronic Engineering’’ degrees at the University ofHuelva (Spain). The developed tool (3DRobotic ArmSimulator, 3D-RAS) is aimed at engineering practices and demands students no programming knowledge. Its highly graphic interface allows easy and simple definition of both parameters and geometry in serial arms with up to five degrees of freedom (DOF). Therefore, this work focuses on an innovative graphic environment designed for teaching professionals which allows them studying D-H conventions, mapping both forward and joint workspaces, evaluating surface and volume trajectories applied to anthropomorphic robotic arms, and visual observationof themovement of serial roboticmanipulators. This process ismuch simpler than the analytical interpretations of results.