Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

Abstract

The simulation of robot systems is becoming very popular, especially with the lowering of the cost of computers, and it can be used for layout evaluation, feasibility studies, presentations with animation and offline programming.The trajectory planning of redundant manipulators is a very active area since many tasks require special characteristics to be satisfied. The importance of redundant manipulators has increased over the last two decades because of the possibility of avoiding singularities as well as obstacles within the course of motion. The angle that the last link of a 2 DOF manipulator makes with the x-axis is required in order to find the solution for the inverse kinematics problem. This angle could be optimized with respect to a given specified key factor (time, velocity, torques) while the end-effector performs a chosen trajectory (i.e., avoiding an obstacle) in the task space.Modeling and simulation of robots could be achieved using either of the following models: the geometrical model (positions, postures), the kinematic model and the dynamic model.To do so, the modelization of a 2-R robot type is implemented. Our main tasks are comparing two robot postures with the same trajectory (path) and for the same length of time, and establishing a computing code to obtain the kinematic and dynamic parameters.SolidWorks and MATLAB/Simulink softwares are used to check the theory and the robot motion simulation.This could be easily generalized to a 3-R robot and possibly therefore to any serial robot (Scara, Puma, etc.).The verification of the obtained results by both softwares allows us to qualitatively evaluate and underline the validityof the chosen model and obtain the right conclusions. The results of the simulations are discussed and an agreement between the two softwares is certainly obtained.

Dynamic Behaviour Comparison of Three Different Mathematical Model Complexities

“…It is based on inertia matrices [4,11], transformation matrices [1,3,14,17,20], centres of mass position vectors [2,16] and model masses. All of these parameters are taken from the SolidWorks CAD model.…”

“…It includes all dimensions, joins and material properties of the CAD model. It is the most accurate model that includes all important shapes (inertia matrices) and mass details for dynamic simulation purposes [16,17].…”

“…Nowadays, a wide range of different support software tools are available; it provides many possibilities and ways to determine mathematical or physical model [4,5,6,7,9,10,11,13,14,15,17,18,19,20]. Accurate detection of a mathematical model is complicated in the case of a complex mechanical structure with many parts, and it should not be used for simulation purposes and controller determination at the same time.…”

“…SolidWorks is used for a CAD model design [12,14,15,16,17,18]. Only the shape and the material properties of an object are needed to know for a full dynamic description; these parameters are included in the CAD model.…”

Dynamic simulation of the CAD model in SimMechanics with multiple uses

“…This paper shows the advantages of the combination of MATLAB and SolidWorks, being the latest able to ease the modeling process [4]. In [23] SolidWorks and MATLAB/Simulink were used to confirm the theory and motion simulation regarding the comparison of robot positions using equal trajectory and time frame along with the establishment of a computer code for finding both kinematic and dynamic parameters.…”