The goal is to develop a CAD and mathematical model of a 3-arm robot to analyze the motion of the end effector along a given path with respect to its dynamic and kinetic characteristics. The information regarding motion of the end effector is inputted, which in this case is to travel a straight line at constant speed. In order to carry out the dynamical analysis this serves as a geometrical constraint.
I have chosen the application of soldering with the assistance of a soldering gun. The robot has to perform soldering along a straight line filling the solder between two items. The straight line would be in the y-plane at constant y-axis, later explained in detail.
The assembly consists of 3 bodies: The Arm (B1), the Forearm (B2), and the Wrist (B3), the arm is mounted on a fixed support. Please see the below figure for the assembly:
