Model Design of 3-Link Robotic Manipulator Using Maplesim

Abstract

Robot design and development is a complex process and require critical analysis to be conducted before the actual implementation. Modern engineering application requires virtual models to be developed and simulated before the actual implementation is carried out. Maplesim has been identified as a tool that can be used for this purpose and has been used in this paper to demonstrate the development of 3-Link robotic manipulator. Design parameters were randomly selected and the symbolic tools in Maplesim were used to model the robot arm. Simulation of the model was done, while adjusting the values of the Proportional Integral Derivative (PID) controllers and the effect on the robot motion was visualized using graphs.