Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

In this paper, a dynamic analysis for 5 degree of freedom (DOF) robotic arm with serial topology is presented. The model the robot based on importing tri-dimensional CAD into Simulink®-Simscape™-Multibody™. in Simscape necessary and important step development mechanical structure robot. correct choice electric motors made according to resistant joint torques determined by running analysis. One can import complete assemblies, including all masses, inertias, joints, constraints, geometries, block. first executing resolve Inverse Kinematics (IK) problem redundant proposed method solving inverse kinematic type geometric approach validated afterwards using SimScape Multibody. Solving kinematics mandatory robot, required drive certain user-imposed trajectories. simulation motion, robot’s design optimal control algorithms.