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Analytical Kinematic Modeling and Simulation Verification of a Three-Link Planar Manipulator
1
School of Electrical Engineering, Yancheng Institute of Technology, Yancheng 224051, China
* Corresponding Author:
Nuoyu Jiang,
[email protected]
Volume 1, Issue 1
2026
Received: 06 January 2026
Accepted: 03 February 2026
Published: 13 February 2026
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Article Information
Volume/Issue
Volume 1, Issue 1, 2026
Pages
26-37
Abstract
This paper establishes an analytical kinematic model for a three-degree-of-freedom planar manipulator with three serial links, and validates it through MATLAB numerical simulations and SolidWorks-ADAMS co-simulation. Based on the mechanism topology and the Denavit-Hartenberg (D-H) parameter method, coordinate frames are assigned, and homogeneous transformation modeling is performed, leading to a closed-form forward kinematics expression for the end-effector pose. By combining wrist-point decomposition, geometric approaches, and the law of cosines, an analytical inverse kinematics solution is derived, and the characteristics of multiple solution configurations are discussed. The simulation results show that the analytical forward and inverse kinematics are consistent with the numerical outputs from the Robotics Toolbox, and the inverse solution can reliably recover the joint angles. In the ADAMS simulation, joint responses follow a sinusoidal driving law, and the end-effector trajectory is continuous and smooth, satisfying the motion characteristics of planar mechanisms. These results confirm the correctness and engineering applicability of the proposed model.
Graphical Abstract
Keywords
three-link planar manipulator
D-H parameter method
forward kinematics
analytical inverse kinematics
MATLAB and ADAMS simulation validation
Data Availability Statement
Data will be made available on request.
Funding
This work was supported without any funding.
Conflicts of Interest
The author declares no conflicts of interest.
AI Use Statement
The author declares that no generative AI was used in the preparation of this manuscript.
Ethical Approval and Consent to Participate
Not applicable.
References
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APA Style
Jiang, N. (2026). Analytical Kinematic Modeling and Simulation Verification of a Three-Link Planar Manipulator. ICCK Transactions on Intelligent Cyber-Physical Systems, 1(1), 26–37. https://doi.org/10.62762/TICPS.2026.746937
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TY - JOUR AU - Jiang, Nuoyu PY - 2026 DA - 2026/02/13 TI - Analytical Kinematic Modeling and Simulation Verification of a Three-Link Planar Manipulator JO - ICCK Transactions on Intelligent Cyber-Physical Systems T2 - ICCK Transactions on Intelligent Cyber-Physical Systems JF - ICCK Transactions on Intelligent Cyber-Physical Systems VL - 1 IS - 1 SP - 26 EP - 37 DO - 10.62762/TICPS.2026.746937 UR - https://www.icck.org/article/abs/TICPS.2026.746937 KW - three-link planar manipulator KW - D-H parameter method KW - forward kinematics KW - analytical inverse kinematics KW - MATLAB and ADAMS simulation validation AB - This paper establishes an analytical kinematic model for a three-degree-of-freedom planar manipulator with three serial links, and validates it through MATLAB numerical simulations and SolidWorks-ADAMS co-simulation. Based on the mechanism topology and the Denavit-Hartenberg (D-H) parameter method, coordinate frames are assigned, and homogeneous transformation modeling is performed, leading to a closed-form forward kinematics expression for the end-effector pose. By combining wrist-point decomposition, geometric approaches, and the law of cosines, an analytical inverse kinematics solution is derived, and the characteristics of multiple solution configurations are discussed. The simulation results show that the analytical forward and inverse kinematics are consistent with the numerical outputs from the Robotics Toolbox, and the inverse solution can reliably recover the joint angles. In the ADAMS simulation, joint responses follow a sinusoidal driving law, and the end-effector trajectory is continuous and smooth, satisfying the motion characteristics of planar mechanisms. These results confirm the correctness and engineering applicability of the proposed model. SN - 3071-2947 PB - Institute of Central Computation and Knowledge LA - English ER -
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@article{Jiang2026Analytical,
author = {Nuoyu Jiang},
title = {Analytical Kinematic Modeling and Simulation Verification of a Three-Link Planar Manipulator},
journal = {ICCK Transactions on Intelligent Cyber-Physical Systems},
year = {2026},
volume = {1},
number = {1},
pages = {26-37},
doi = {10.62762/TICPS.2026.746937},
url = {https://www.icck.org/article/abs/TICPS.2026.746937},
abstract = {This paper establishes an analytical kinematic model for a three-degree-of-freedom planar manipulator with three serial links, and validates it through MATLAB numerical simulations and SolidWorks-ADAMS co-simulation. Based on the mechanism topology and the Denavit-Hartenberg (D-H) parameter method, coordinate frames are assigned, and homogeneous transformation modeling is performed, leading to a closed-form forward kinematics expression for the end-effector pose. By combining wrist-point decomposition, geometric approaches, and the law of cosines, an analytical inverse kinematics solution is derived, and the characteristics of multiple solution configurations are discussed. The simulation results show that the analytical forward and inverse kinematics are consistent with the numerical outputs from the Robotics Toolbox, and the inverse solution can reliably recover the joint angles. In the ADAMS simulation, joint responses follow a sinusoidal driving law, and the end-effector trajectory is continuous and smooth, satisfying the motion characteristics of planar mechanisms. These results confirm the correctness and engineering applicability of the proposed model.},
keywords = {three-link planar manipulator, D-H parameter method, forward kinematics, analytical inverse kinematics, MATLAB and ADAMS simulation validation},
issn = {3071-2947},
publisher = {Institute of Central Computation and Knowledge}
}
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