This project involves the complete design and development of a functional robotic arm, including all structural components such as motor mounts, joint housings, and arm linkages. The system must be fully actuated using appropriately selected motors, enabling smooth and precise movement across all intended degrees of freedom.

All components must be designed for manufacturability and suitable for fabrication using machined aluminum or high-strength carbon-fiber-reinforced 3D-printed parts. Material selection, tolerances, and structural integrity must be carefully considered to ensure durability and performance.

Additionally, the arm must function as a complete kinematic model compatible with electronic control systems, including sensors, drivers, and embedded controllers, so that the final prototype can be fully tested through programmed motion control.

The robotic arm assembly will be mounted at the user’s hip and connected mechanically to the user’s elbow through a linkage system. The device features two powered actuators—one for vertical arm motion and one providing gravity assistance to reduce the user's effort when keeping their arm elevated.

A wearable harness will anchor the mechanism while also acting as a counterweight system, distributing loads comfortably and allowing the user to move naturally.

At the hip connection, a cylindrical hinge provides a passive lateral degree of freedom, enabling outward arm movement without requiring motorized actuation. This increases the arm’s range of motion while minimizing system complexity and power consumption.