This paper introduces a rescue robot named Sigma 3 which is developed for potential applications such as helping hands for humans where a human can not reach to have an assessment of the hazardous environment. Also, these kinds of robot can be controlled remotely with an adequate control system. The proposed methodology forces on two issues : 1. Novel mechanism design for measuring rotation, joints, links of Degree of Freedom DOF for an arm which is integrated with Sigma 3, 2. Precise measuring of end effector motion control over three dimensions. In the proposed mechanism design, the DOF measurement is presented by a planar and spatial mechanism where 4 types of rigid joints build up each DOF with controlling by six High Torque MG996R servo motors. Rotation and DOF measurement are consisting of different theoretical references of Rotation Matrix, Inverse Kinematics with experimental results. Presented methodology over Oscillation Damping performance exhibits less than 3 percent error while configuring for on hands testing. Another evaluation of operating time state strongly defends the mechanism of low power consumption ability.

中文翻译：

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Sigma-3：救援机器人中 6 自由度机械臂配置的集成和分析

本文介绍了一种名为 Sigma 3 的救援机器人，该机器人是为潜在应用而开发的，例如为人类伸出援助之手，以评估危险环境。此外，这些类型的机器人可以通过适当的控制系统进行远程控制。所提出的方法论适用于两个问题：1. 与 Sigma 3 集成的用于测量旋转、关节、自由度自由度 DOF 连杆的新型机构设计，2. 三个维度上末端执行器运动控制的精确测量。在建议的机构设计中，自由度测量由平面和空间机构呈现，其中 4 种类型的刚性接头建立每个自由度，并由六个高扭矩 MG996R 伺服电机控制。旋转和自由度测量由旋转矩阵的不同理论参考组成，具有实验结果的反向运动学。所提出的关于振荡阻尼性能的方法在配置用于手动测试时误差小于 3%。另一个对工作时间状态的评估有力地捍卫了低功耗能力的机制。