fixedarm

Fixedarm is a term used in robotics and automation to describe a robotic manipulator whose geometry is fixed and non-reconfigurable during operation. It refers to a rigid kinematic chain of links connected by joints that preserves a constant topology, producing a predictable range of motion for the end effector within a defined work envelope.

Operation and control: The arm is driven by actuators at its joints or from the base. Because the link lengths and joint orientations are fixed, the end effector's reachable positions can be described by a known forward kinematics model, enabling straightforward trajectory planning and precise control using closed-loop feedback.

Applications: Fixedarms are used in manufacturing, packaging, assembly lines, and laboratory automation where repeatability, rigidity, and ease of calibration are important. They are favored in low-to-medium payload tasks and where a simple, robust mechanical design reduces maintenance and downtime compared with highly articulated systems.

Design considerations: Important factors include reach and payload within the fixed geometry, structural stiffness, joint backlash, control bandwidth, and calibration accuracy. Because the geometry is fixed, changes to the work envelope typically require hardware modification or reassembly rather than software reconfiguration, which can reduce downtime but limits flexibility.