Design, Simulation, and Implementation of a 6-DOF Robotic Arm Using ROS2 and RViz with Hybrid CAD-Based Architecture

This paper presents the design, modeling, and simulation of a hybrid mechanical six-degree-of-freedom (6-DOF) robotic arm that integrates off-the-shelf parts and purpose-designed elements. The mechanical design was developed in SolidWorks and converted to URDF (Unified Robot Description Format) for use in ROS2 (Robot Operating System 2). The robotic arm's control system was built on a ROS2 node for modularity and direct real-time communication. The motion and behavior of the robotic arm had been validated using RViz (ROS Visualization), a visual and analytical validation environment. Several trajectory planning workflow scenarios were tested to validate the system, all of which demonstrated sufficient certainty levels.