Design

The robot arm consists of 2-Link which indicate its 2-dof it’s RR. We will use Polytetrafluoroethylene (Teflon) which has 2.2 $g/cm^3$ density

Properties of 1# link:

Properties of 2# link:

For the motor we will use JX RD-B7640HV-180 40KG this motor Weight around 75g and can produce torque up to 40 $$kg*cm$$ and this motor Dual shaft in each side

Simulation

We use these equations for simulation in MATLAB Simulink and we used acceleration control model to control the arm.