Workspace Analysis and Dynamics Simulation of Manipulator based on MATLAB

Abstract Workspace analysis and joint moment calculation are the main contents of manipulator’s design and calculation. According to the joint layout characteristics of the light cooperative manipulator, the workspace of the manipulator is divided into two parts: the arm workspace and the wrist workspace. The geometric method and Monte Carlo method are used to calculate the workspace of the manipulator and to guide the determination of the structural parameters of the manipulator. Based on Simulink/Simmechanics library, the dynamics model of six-axis serial manipulator is built and the joint rotational moment is calculated. The simulation results are in good agreement with the results of Newton Euler method. The simulation model can be used to replace Newton Euler method in the design process of the manipulator to improve the design efficiency.