  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.
