Design a robot arm to write English word

In this article, the pen tip angles of a robotic arm taken from a human hand with the ability to write Latin words in upper and lower case with axes and degrees of freedom that are in accordance with the anatomy of the human hand are simulated and designed. This robotic arm is simulated along with the code that is implemented in MATLAB and the output of the designed system is reported in this article and its errors are also investigated. There is the issue of replacing robotic equipment instead of humans in high-precision industrial work, which is sometimes in difficult conditions that are beyond the ability and endurance of humans, but with the help of robots, these activities can be performed completely. And energy resources, time and raw materials are also saved because the use of the robot keeps the accuracy of the repetition activity the same in all stages of the work and the speed of the work can be controlled.