3D MODELING AND INVERSE KINEMATICS SIMULATION OF A 6-DOF ARM ROBOT BY COMBINATION OF CAD SOFTWARE AND MULTIBODY TOOL IN MATLAB/SIMULINK

Abstract

Modeling and Simulation are essential activities when it comes to studying Robot. This helps us predict the phenomenon may occur and optimize design parameters before the prototyping step. In this paper, we use NX 12.0 to design a 3D six DoF Robot arm and then import this model into MATLAB/Simulink via Multibody tool to conduct inverse kinematics simulation. The results show the superior advantages of this method compared with other conventional ways as it simultaneously utilizes the design power of CAD softwares and computational capacity of MATLAB.