Sim4RAD: A MATLAB Toolkit for Design-Phase Sizing, Actuator Selection and URDF-Model Verification of Serial Robotic Arms
Actuator sizing is an early and consequential decision: joint torque and velocity specifications fix the motors, gearboxes and brakes before any CAD model exists.
ProofPaper ↗
Key points
- Sim4RAD is a MATLAB toolkit for that phase and for the verification that follows it.
- Replacing the synthesized model by a URDF file turns the same analyses to verification.
- A 7-DOF anthropomorphic arm is compared in three layouts differing in the shoulder axis order and in whether the last wrist joint is coaxial with the payload.
- The same arm needs 20 to 37 times more torque for a 5 m/s target than for a 2 s motion: the scenario, not the trajectory, must be fixed first.
Sources (1)
- [1]Sim4RAD: A MATLAB Toolkit for Design-Phase Sizing, Actuator Selection and URDF-Model Verification of Serial Robotic ArmsarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 13, 12:56 AM
Actuator sizing is an early and consequential decision: joint torque and velocity specifications fix the motors, gearboxes and brakes before any CAD model exists.
Sim4RAD is a MATLAB toolkit for that phase and for the verification that follows it.
Extractive summary: sentences quoted from the sources.
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