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Modeling and analysis of an RUU Delta Robot using SolidWorks and SimMechanics

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Abstract

This paper illustrates the methodology for modeling, implementing, and controlling an RUU Delta Robot using computer-aided design and simulation software. Specifically, SolidWorks is employed to construct a CAD model with suitable properties, which is then exported to the MATLAB/SimMechanics environment for generating a multibody system block diagram. A PID controller is implemented to control the robot's position and trajectory movement. The study analyzes moment signal graphs at active joints, comparing them with existing research to validate the accuracy of the results. The investigation reveals that the influence of damping coefficients on the robotic dynamics is negligible, with simulation errors less than 0.02% for different end effect masses. Additionally, the study explores the impact of end effect mass on robotic dynamics and trajectory. Simulation results recommend an optimal operating range with an end effect mass of less than 3 kg, ensuring trajectory errors remain below 2%. As the end effect mass increases, a corresponding fluctuation in the robot's trajectory is observed, leading to longer times to reach the designed trajectory. This study provides valuable insights for practical applications, indicating that the proposed simulation approach is instrumental in assessing the performance of the robot controller before its deployment in an actual prototype.

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Availability of data and materials

The data and source code used to support the findings of this study are available from the corresponding author upon request.

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Acknowledgements

The authors would like to thank all members of Mechatronics Division, University of Science and Technology-The University of Da Nang, for their support and feedback.

Funding

No funding was received on this project.

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Authors and Affiliations

  1. Department of Mechanical Engineering, The University of Danang – Danang University of Science and Technology, Nguyen Luong Bang 54, Danang, Vietnam

    Hoai Nam Le & Nhu Thanh Vo

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  1. Hoai Nam Le
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  2. Nhu Thanh Vo
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Contributions

NTV and HNL contributed equally to this research.

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Correspondence to Nhu Thanh Vo.

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The authors declare that they have no competing interests.

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Le, H.N., Vo, N.T. Modeling and analysis of an RUU Delta Robot using SolidWorks and SimMechanics. Int. J. Dynam. Control (2024). https://doi.org/10.1007/s40435-023-01377-1

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  • DOI: https://doi.org/10.1007/s40435-023-01377-1

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