Proposal of Drivable Rapid Prototyping System for Robot Mechanisms Verification

Abstract

In order to accelerate the development of new robots, a system that allows easy verification of the mechanism and motion is needed. In this study, we propose a system that enables motion verification in the real environment to simplify the development of prototype robot mechanisms. This system integrates Simscape Multibody with an actual robot and can execute target trajectories entered into the simulation. In addition to verification of the mechanism such as industrial and rehabilitation robots, the system is also expected to be applied to control robots. In this paper, we describe a conversion procedure from modeling software to Simscape model and block diagrams for driving actuators, using parallel link mechanisms such as Delta robot and Agile eye as examples. After robots are built, the robots are driven based on calculated values from simulation, and trajectory measured by a motion capture device is used to confirm the effectiveness of the system. Finally, the validity of the system is discussed based on the experimental results.