Engineering with Computers

, Volume 29, Issue 1, pp 87–94 | Cite as

SnAM: a simulation software on serial manipulators

  • M. A. González-Palacios
  • E. A. González-BarbosaEmail author
  • L. A. Aguilera-Cortés
Original Article


The solution of kinematics problems for serial manipulators is fundamental for their synthesis, analysis, simulation, and computer control; for this reason, this paper introduces a public domain package and open software called SnAM (Serial n-Axis Manipulators), which is developed under the ADEFID (ADvanced Engineering soFtware for Industrial Development) framework, where the manipulator is conceptualized as a derived class from CRobokin, CMachine and CIpiSModel, which are fundamental ADEFID classes. SnAM has been developed with efficient algorithms in a closed-loop solution to solve direct kinematics, whereas for the case of inverse kinematics, matrix formulation, elimination and numerical methods are implemented. Furthermore, for the architecture definition, the user is able to display a dialog box in which the design parameters are set based on the Denavit–Hartenberg convention with the aid of sliding bars, while the solid model is updated simultaneously showing the actual configuration. Since ADEFID provides tools to graphical interface with embedded control components SnAM adopt them to not only simulate virtually, but also with an adaptive prototype designed for this purpose. Furthermore, SnAM assists the user in tasks related to trajectory planning, collision-avoidance and three-dimension objects scanning.


Serial manipulators Kinematics Software development Simulation Modeling 



The research work reported here, was supported by CONCYTEG (Consejo de Ciencia y Tecnología del Estado de Guanajuato), Project No. 09-16-K662-084, and also by Universidad de Guanajuato, México, with Project No. DAIP-000048/10. The second author was funded by the CONACYT, Consejo Nacional de Ciencia y Tecnología (National Council of Science and Technology), of México, with Registration No. 202671.


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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  • M. A. González-Palacios
    • 1
  • E. A. González-Barbosa
    • 1
    Email author
  • L. A. Aguilera-Cortés
    • 1
  1. 1.División de Ingenierías Campus Irapuato-SalamancaUniversidad de GuanajuatoSalamancaMexico

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