  In the scope of the "Chess-Bot" project, this study's goal is to choose the
right model for the robotic arm that the "the Chess-Bot" will use to move the
pawn from a cell to another. In this paper, there is the definition and the
structure of a robot arm. Also, the different engineering and kinematics
fundamentals of the robot and its components will be detailed. Furthermore, the
different structures of robotic arms will be presented and compared based on
different criteria. Finally, a model for "the Chess-Bot" arm will be
synthesized based on accurate algorithms and equations.
