Dynamic Multibody Simulation of a 6-DOF Robotic Arm

Based on the kinematic model with Cartesian structure, Newton-Euler like algorithm being employed to solve the nonlinear equations of motion and constraints in real-time application, and dynamic multibody simulation, a novel integrated design for a 6-DOF robot is investigated, and the interfaces required for the implementation of different computer aided engineering (CAE) tools used in the design is addressed [1]. The presented method in this paper was analyzed and verified by the numerical and physical 6-DOF robot model, the result shows that the topologic projection method [2] is stable. The design experience accumulated will be very useful for the future product design.