ISSN (Print) : 0974-6846

Indian Journal of Science and Technology, Vol 9(48), DOI: 10.17485/ijst/2016/v9i48/105833, December 2016 ISSN (Online) : 0974-5645

Modeling of Multi-DOF Robotic Manipulators

using Sim-Mechanics Software
Shiv Manjaree* and Mitsu Thomas
Department of Mechanical Engineering, TheNorthCap University, Gurugram – 122017,
Haryana, India; [email protected], [email protected]

Abstract
Objectives: This paper presents a simulation based software platform to model and design a multi-degree of freedom robotic
manipulator. Methods: Traditional methods of modeling robotic manipulators are a very laborious, iterative and time
consuming task. In the last few years, new approaches towards the study of complex architectures of robotic manipulators
have developed rapidly. In this paper, a new method based on Sim-Mechanics software is presented to simulate and design
a multi-DOF robotic manipulator. Findings: It can be seen that the new software based method provides a much easier and
faster way of modeling the multi-DOF robotic manipulator as compared to mathematical modeling. Improvements: The
model developed using Sim-Mechanics software will be further used for dynamic analysis.

Keywords: DOF, Dynamics, Modeling, Robotic Manipulator, Sim-Mechanics

1. Introduction analysis of different multi-DOF robotic manipulators2,3.

Software packages for educational purpose4,5 have been
In today’s time, multi-DOF robotic manipulators have developed based on kinematic analysis of multi-DOF
become an integral part of industrial applications. A robotic manipulators. The authors6 have presented the
variety of industrial tasks such as welding, spray painting, kinematic results with experimental proofs for known
pick and place operation, assembly etc. are performed trajectories of a 3-DOF Phantom Omni robot. Two
with the help of multi-DOF robotic manipulators. Any different kinematic schemes7 have also been compared
industrial application also highlights the importance to capture geometric primitives for an anthropomorphic
of mathematical modeling of used multi-DOF robotic manipulator.
manipulators. Kinematic analysis and dynamic analysis is Due to the iterative, non-unique and time consuming
used for mathematical modeling of complex architectures nature of inverse kinematic analysis, various hybrid
of any multi-DOF robotic manipulators. Kinematic and non-hybrid artificial intelligent techniques have
analysis of robotic manipulator is performed in two ways been researched in past few years. A neuro-fuzzy based
viz. forward kinematics and inverse kinematics. The solution to the inverse kinematics problem of a 3-DOF
forward kinematic analysis of any multi-DOF robotic planar robot8,9 has been investigated. By using the ability
manipulator is an easy task due to the presence of Denavit- of adaptive neuro-fuzzy technique to learn from training
Hartenberg convention. The inverse kinematics analysis data, it is possible to create a representative fuzzy inference
is complex due to the availability of multiple solutions of system using a back propagation neural network-like
joint variables. Research papers show that the Denavit- structure, with limited mathematical representation of
Hartenberg convention1 was proposed in the year 1955 the system10. Computer simulations have been conducted
and since then a lot of work related to kinematic analysis on 2-DOF and 3-DOF robotic manipulator to show the
has been done. Literature search shows that the maximum effectiveness of the approach. A comparative analysis has
number of work has been done to perform the kinematic been carried out for inverse kinematic solutions obtained

* Author for correspondence

 Modeling of Multi-DOF Robotic Manipulators using Sim-Mechanics Software

for a 5-DOF industrial robotic manipulator using analytical processing variables on fatigue life, impact energy and
calculations and hybrid artificial intelligent techniques bead penetration of AA6061 joints produced by MIG
with experimental validation11. The adaptive neuro- robotic welding process30 has been analyzed.
fuzzy technique has been applied on redundant robotic Along with kinematic analysis and dynamic analysis
manipulators for the prediction of inverse kinematic of multi-DOF robotic manipulators, the simulation of
solutions12. The inverse kinematic solutions for different complex architectures of multi-DOF robotic manipulators
multi-DOF robotic manipulators of surgical importance13 using simulation software is also gaining importance. The
have been obtained using neural network based artificial advantage of using simulation software is that it helps in
intelligent techniques. Multilayer feed forward networks better visualization and understanding of the working of
and hybrid neuro-fuzzy artificial intelligent technique14–17 the multi-DOF robotic manipulator in a virtual world. The
has been applied to a 3-DOF robotic manipulator inverse simulation software helps in avoiding the complexities
kinematic problem. The repetitive trajectories18 are tracked involved in the mathematical formulations needed for
in the simulations made on the 3-DoF planar and 4-DoF both forward analysis and dynamic analysis. However,
spatial manipulators respectively and two optimization literature search shows that the work in this area is very
methods with joint limits avoidance are considered. The limited and needs more focus to be paid. A systematic
effectiveness of the proposed algorithm has been verified representation of mathematical and software for the
by simulation results and detailed comparative analysis effective simulation of mechanical system with Simulink
among different methods and cases has been given. The dynamic simulation environment is given31–33. A method
performance of iterative algorithm for a 3-DOF crane19 to model the mechanics of robot manipulators34 is given.
has also been investigated. A simple and reliable approach to create a humanoid
For any industrial application, dynamics of robotic robot with Sim-Mechanics and VRML35 is presented.
manipulators play a vital role. Dynamic analysis of multi- Traditional methods of dynamic modeling of multi-
DOF robotic manipulators can also be performed in two DOF robotic manipulators have been compared with a
ways viz. forward dynamics and inverse dynamics. In novel simulation method for physical modeling using Sim-
forward dynamics, the movement of multi-DOF robotic Mechanics software and some interesting mathematical
manipulators due to the exerted force is investigated. aspects of Sim-Mechanics software implementation have
In inverse dynamics, the forces causing the motion been examined. An effective approach to the physical
of end-effector of multi-DOF robotic manipulators modeling of multi-DOF robotic manipulator and its
are investigated. Several research works shows the dynamic simulation using Sim-Mechanics software36 has
mathematical formulation of dynamic analysis of multi- been given. A multi-body system37 has been simulated
DOF robotic manipulators20,21. Various artificial intelligent with Sim-Mechanics.
techniques have also been used to ease the complexities In this paper, Sim-Mechanics software has been used
involved in dynamic analysis of robotic manipulators. to model the 2-DOF planar and 3-DOF planar robotic
Hybrid artificial intelligent techniques based on fuzzy manipulators. In order to verify the model, the Sim-
logic and neural networks have been investigated for the Mechanics block model obtained for multi-DOF robotic
dynamic performance of different multi-DOF robotic manipulators have been simulated to get the variations of
manipulators22–24. Lagrangian approach25 is used to reaction force and reaction torque acting on the robotic
derive the dynamic model of the structure. Links are manipulator. The results presented in the later section
modeled as Euler-Bernoulli beams with proper clamped- show the proper design and development of 2-DOF
mass boundary conditions. Dynamic analysis26 using planar and 3-DOF planar robotic manipulators on the
Lagrangian’s and Newton’s Euler approach is worked Sim-Mechanics software.
out analytically using MATLAB. Two different neuro-
fuzzy controllers27 have been modeled and compared 1.1 About Sim-Mechanics
with PID controller for trajectory tracking control of Dynamic simulation of multi-DOF robotic manipulators
2-DOF robot manipulator. The modeling and simulation is a common problem in engineering sciences. Several
of 6-DOF bipedal robot28 has been carried out. A brain programs available for dynamic simulation are either
controlled robotic wheelchair29 has been modeled and based on symbolic representations or dynamic equations
simulated for elderly and disabled people. The effect of

2 Vol 9 (48) | December 2016 | www.indjst.org Indian Journal of Science and Technology
 Shiv Manjaree and Mitsu Thomas

of motion are solved. Certain numerical programs are have elements representing rigid bodies connected with
also available which helps in dynamic simulation using rotational or translational joints. For any particular joint,
3D-SolidWorks model. Sim-Mechanics software falls in its position, velocity and acceleration are measured using
the last category. joint Sensor blocks. The reaction force and reaction
Sim-Mechanics software helps in building a mechanical torque acting across the joint is also measured using joint
system virtually with the help of block diagrams. This Sensor blocks. The development of the dynamic model
software uses the standard Newtonian forces and torques of a robotic manipulator starts with the identification of
acting on the system. Mechanical systems or multi-DOF technical parameters either provided by the manufacturer
robotic manipulators are represented by connected block or calculated manually. For using Sim-Mechanics software,
diagrams. In Sim-Mechanics software, the complete multi- the modelling of joints and other rigid parts is firstly done
DOF robotic manipulator can be represented graphically in the SolidWorks software. The modelling in SolidWorks
in the form of blocks which in turn saves time and effort software helps in creating an animation of the mechanical
to model the robotic manipulator mathematically. The system or multi-DOF robotic manipulator; which in
other advantages of using Sim-Mechanics software is that turn verifies the correctness of kinematic modelling of
it helps to model, simulate, make changes in the system the multi-DOF robotic manipulator or given mechanical
and system parameters and also analyze the results in system. The model which contains mass, centre of inertia,
a single environment itself. For physical modelling, the tensor and graphics used for better visualization is then
kinematic relationships and geometric relationships are imported into the Sim-Mechanics software. The rigid
directly mapped in Sim-Mechanics software. This feature bodies are used as simple blocks and have their time
saves a lot of time and efforts involved in deriving the response lying within acceptable boundaries. The steps
dynamic equations of motion. The other feature of Sim- followed to model a multi-DOF robotic manipulator are
Mechanics software is that Sim-Mechanics blocks can be as given below:
very easily interfaced with Simulink blocks. This feature Technical specifications of sub-parts of rigid bodies i.e.
helps the used to design the complete system in a single inertia, DOF, centre of gravity etc. along with coordinate
environment. Sim-Mechanics software comprises of system needed to measure position and velocity at any
different analysis modes and advanced visualization tools; point of time.
making the complex dynamic simulations a very easy task. Applying forces/torques to obtain robot motions and
Any multi-DOF robotic manipulators can be analysed in complete the model with the help of sensors and actuators.
four modes using the Sim-Mechanics software: Simulate using Simulation solvers to find robot
Forward dynamics command – It helps in calculating motions while maintaining any constraint applicable on
the motion of the mechanism resulted due to applied the system.
torques/forces. Visualization of the multi-DOF robotic manipulator
Inverse dynamics command – It helps in calculating or any mechanical system while building the model.
the torques/forces which are responsible to produce Animation of the multi-DOF robotic manipulator or
motion of any open loop mechanism. any mechanical system by simulating it using Graphical
Kinematics command – It performs the same task by User Interface.
considering extra internal constraints for any closed loop In this paper, 2-DOF planar and 3-DOF planar robotic
system. manipulators have been modelled using Sim-Mechanics
Trim command – It helps in finding the starting point software.
for any linearization analysis for a steady state motion of
any system. 1.2 Modeling of 2-DOF Planar Robotic
To implement a model in Sim-Mechanics software,
Manipulator
a .mdl file is created better called as model. The Sim-
In this section, a 2-DOF planar robotic manipulator
Mechanics software contains ‘blocks’ in the library
has been considered. The SolidWorks model for 2-DOF
and other Sensor blocks and Actuator blocks used for
planar robotic manipulator is shown in Figure 1. Each
interfacing Sim-Mechanics software with Simulink. Any
component of the robotic manipulator i.e. base, links
mechanical system is modelled using ‘blocks’ which

Vol 9 (48) | December 2016 | www.indjst.org Indian Journal of Science and Technology 3
 Modeling of Multi-DOF Robotic Manipulators using Sim-Mechanics Software

and end-effector were modeled separately and assembled

in SolidWorks software to get the required output. The
description of movement of robotic manipulator is given
in Table 1.
The Sim-Mechanics block model for 2-DOF planar
robotic manipulator is shown in Figure 2. The Sim-
Mechanics link of the SolidWorks model which is created
using SolidWorks were imported into MATLAB to form
the above shown block model and for further modelling
as well. In this paper, the Sim-Mechanics block model
obtained for 2-DOF planar robotic manipulator has been
simulated to get results for the variations of reaction force
and reaction torque acting on the robotic manipulator.
Figure 3 shows the variations of reaction force and
Figure 2. Sim-Mechanics block model of 2-DOF planar
reaction torque of joint angle θ1 for link 1 of 2-DOF robotic manipulator.
planar robotic manipulator. As can be seen from Figure
3, for the up-down movement of link 1 of 2-DOF planar
robotic manipulator, the reaction force applied remains
the same throughout the movement while reaction
torque reduces when link 1 is moving in downward
direction. Figure 4 shows the variations of reaction force
and reaction torque for joint angle θ2 of link 2 of 2-DOF
planar robotic manipulator. As can be seen from Figure
4, for the up-down movement of link 2 of 2-DOF planar
robotic manipulator, the reaction force applied remains
the same throughout the movement while reaction torque
increases when link 2 is moving in downward direction.
The variations obtained for reaction force and reaction
torque acting on the two links of 2-DOF planar robotic
Figure 3. θ1 vs. reaction force and reaction torque for
manipulator shows that the physical modelling of the 2-DOF planar robotic manipulator.
robotic manipulator has been done correctly on the Sim-
Mechanics software platform. The obtained variations
can further be used for kinematic and dynamic analysis
without involving any equations of motion.

Figure 4. θ2 vs. reaction force and reaction torque for

2-DOF planar robotic manipulator.

Figure 1. SolidWorks model for 2-DOF planar robotic

manipulator.

4 Vol 9 (48) | December 2016 | www.indjst.org Indian Journal of Science and Technology
 Shiv Manjaree and Mitsu Thomas

Table 1. Description of movement of 2-DOF 3 remains same for 3-DOF planar robotic manipulator
planar robotic manipulator while reaction torque increases when link 3 is moving
Links Link lengths (mm) Range of rotation in downward direction. The variations obtained for
1 a1 = 132 0o - 60o reaction force and reaction torque acting on the two links
2 a2 = 132 0o - 90o of 3-DOF planar robotic manipulator shows that the
physical modelling of the robotic manipulator has been
done correctly on the Sim-Mechanics software platform.
1.3 M
 odeling of 3-DOF Planar Robotic The obtained variations can further be used for kinematic
Manipulator and dynamic analysis without involving any equations of
Here, a 3-DOF planar robotic manipulator has been motion.
considered. The SolidWorks model for 3-DOF planar
robotic manipulator is shown in Figure 5. Each component
of the robotic manipulator i.e. base, links and end-effector
were modeled separately and assembled in SolidWorks to
get the following output. The description of movement of
robotic manipulator is given in Table 2.
The Sim-Mechanics block model for 2-DOF planar
robotic manipulator is shown in Figure 6. The Sim-
Mechanics link of the SolidWorks model which is created
using SolidWorks toolbox were imported into MATLAB
to form the above shown block model and for further
modelling as well. In this paper, the Sim-Mechanics block
model obtained for 3-DOF planar robotic manipulator
has been simulated to get results for variations of
reaction force and reaction torque acting on the robotic
Figure 5. SolidWorks model for 3-DOF planar robotic
manipulator.
manipulator.
In Figure 7 shows the variations of reaction force and
reaction torque for joint angle θ1 of link 1 of 3-DOF planar
robotic manipulator. As can be seen from Figure 7, for
the up-down movement of link 1 of 3-DOF planar robotic
manipulator, the reaction force applied remains the same
throughout the movement while reaction torque increases
when link 1 is moving in downward direction. In Figure
8 shows the variations of reaction force and reaction
torque for joint angle θ2 for link 2 of 3-DOF planar robotic
manipulator. It can be seen from Figure 8, the reaction
force for link 2 remains same for 3-DOF planar robotic
manipulator while reaction torque increases when link 2
is moving in downward direction. In Figure 9 shows the
variations of reaction force and reaction torque for joint
angle θ3 for link 3 of 3-DOF planar robotic manipulator. Figure 6. Sim-Mechanics block model of 3-DOF planar
It can be seen from Figure 9, the reaction force for link robotic manipulator.

Vol 9 (48) | December 2016 | www.indjst.org Indian Journal of Science and Technology 5
 Modeling of Multi-DOF Robotic Manipulators using Sim-Mechanics Software

Table 2. Description of movement of

3-DOF planar robotic manipulator
Links Link lengths (mm) Range of rotation
1 a1 = 132 0o - 60o
2 a2 = 132 0o - 90o
3 a3 = 132 0o - 180o

2. Conclusions and Future Scope

of the Work
This paper presents Sim-Mechanics software as an
important tool for modelling multi-DOF robotic
manipulators without any mathematical equations or
Figure 7. θ1 vs. reaction force and reaction torque for
relations. To ease the complexities of dynamic modelling,
3-DOF planar robotic manipulator.
SolidWorks software has been used to model the rigid
bodies and then the model has been imported on the
Sim-Mechanics software platform. This helps in avoiding
the analytical calculations and gives a better visualization
of the model. The Sim-Mechanics block model has been
used to obtain the results for variations of reaction force
and reaction torque acting on the robotic manipulator,
which thereby validates the proper development of the
model. In future, more complex architectures of multi-
DOF robotic manipulators can be modelled using the
Sim-Mechanics software. Further analysis related to
forward dynamics, inverse dynamics, trajectory planning
etc. will be attempted.

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