Simulation Project Proposal

2DOF Armature Simulation with Torque Analysis

Introduction
In all disciplines of engineering, be it mechanical, civil, electrical, or any other, there is a series of steps
to be performed in order to successfully complete a design process of any true significance. Before an engineer
may begin to build form a design, they must first research, mathematically model, and simulate all relevant
components in question to ensure that the design is feasible. It begins with the derivation of the equations of
motion that govern a designs physics, leading into constraints set by both the designer and the environment that
the design is to function in, and eventually progressing to computational analysis with respect to time.
This project proposal aims to construct and run a simulation of a simple 2 DOF system, consisting of a
two-link armature, operated by motors at the joints and analyzing the required torques for various kind of
movement and general operation. The application of this simulation would be beneficial in any area that deals
with the movement of an in-plane robotic arm. This would be highly useful in the robotics and medical
industries, where knowledge and optimization of armature movements is crucial.
Problem Statement
Our group proposes to simulate a 2 DOF system consisting of a two-link armature with motors located
at the joints. The main purpose of the simulation is to understand the statics, dynamics, and necessary control
required for a robotic arm. This knowledge and understanding will be integral to the design of future robotic
systems in the robotics industry.
Simulation Technique
In order to fully understand this design we foresee the need for a minimum of two general simulations.
The first simulation would be of the robotic arm when the end effector is not holding any additional mass, nor is
subject to any external moment. This would be used as a reference for the second simulation. The second
simulation would include an additional mass, and moment, attached to the end effector and further serve our
understanding of the control aspect relating the angles of the arm linkages to the required motor torques.
Utilizing MATLAB and Simulink/Simscape, it will be possible to create a mathematical model to represent the
armature system and allow us to examine different motor configurations and end effector conditions. From
these programs we will further understand the mathematics, torques, and trajectory generation required to
properly control the robotic arm.
Conclusion
Upon the completion of this simulation project, our group will obtain comprehensive knowledge on the
relations between the torques of motors and relative positions of arm links in the 2 DOF system of an in-place
robotic arm. The end result will pave the way for more complex, intricate, and relevant simulations which can
be applied to more complex linkage systems, along with the creation and implementation of more efficient
control structures.