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Journal articles on the topic 'Simscape Multibody'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Boschetti, Giovanni, and Teresa Sinico. "Designing Digital Twins of Robots Using Simscape Multibody." Robotics 13, no. 4 (2024): 62. http://dx.doi.org/10.3390/robotics13040062.

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Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully describe their dynamics. In this paper, we present the design of a high-fidelity digital twin of a six degrees-of-freedom articulated robot using Simscape Multibody, a Matlab toolbox that allows the design of robotic manipulators in a rather intuitive and user-friendly manner. This robot digital twin includes joint friction, transmission gears, and

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2

Jbari, Hatim, Rachid Askour, and Badr Bououlid Idrissi. "Integrated electric vehicle design and simulation: Combining a mechanical and electrical model using Simscape/Multibody." International Journal of Power Electronics and Drive Systems (IJPEDS) 15, no. 4 (2024): 2037. http://dx.doi.org/10.11591/ijpeds.v15.i4.pp2037-2048.

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This paper presents a novel methodology for modeling and implementing an electric vehicle (EV) simulation model using the Multibody approach. The proposed method provides a robust solution for studying EV performance, taking into consideration the dynamic behavior of its complex mechanical system. The mechanical design was carried out using SOLIDWORKS software and then exported to the Simscape/Multibody platform. This process was performed to combine the obtained mechanical design with an electrical model, developed using the Simscape and MATLAB/Simulink toolbox, in the same simulation platfor

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3

Putri, Farika Tono, Ragil Tri Indrawati, Eni Safriana, Wahyu Isti Nugroho, Timotius Anggit Kristiawan, and Rizkha Ajeng Rochmatika. "Mathematical and 3D Mechanical System Simulation of Arm Robot Modelled as Double Pendulum." Jurnal Rekayasa Mesin 18, no. 3 (2023): 495. http://dx.doi.org/10.32497/jrm.v18i3.5110.

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<p>Lengan robot telah banyak digunakan dan penelitian ekstensif terkait manipulator telah dilakukan. Permasalahan pada manipulator robot lengan adalah pengendalian dan stabilisasinya. Pemodelan matematis dapat membantu mengendalikan lengan robot dengan parameter yang mudah untuk ditentukan. Penelitian ini bertujuan untuk membandingkan simulasi pemodelan matematis dan simulasi sistem mekanik 3D manipulator yang dimodelkan dengan pendulum ganda. Simulasi dilakukan dengan bantuan MATLAB/Simulink dan MATLAB/Simscape Multibody. Metode penelitian meliputi: (i) Pembentukan persamaan Lagrange un

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Jbari, Hatim, Rachid Askour, and Badr Bououlid Idrissi. "Integrated electric vehicle design and simulation: Combining a mechanical and electrical model using Simscape/Multibody." International Journal of Power Electronics and Drive Systems (IJPEDS) 15, no. 4 (2024): 2037–48. https://doi.org/10.11591/ijpeds.v15.i4.pp2037-2048.

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This paper presents a novel methodology for modeling and implementing an electric vehicle (EV) simulation model using the Multibody approach. The proposed method provides a robust solution for studying EV performance, taking into consideration the dynamic behavior of its complex mechanical system. The mechanical design was carried out using SOLIDWORKS software and then exported to the Simscape/Multibody platform. This process was performed to combine the obtained mechanical design with an electrical model, developed using the Simscape and MATLAB/Simulink toolbox, in the same simulation platfor

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5

Aznizam, Abdullah, Azwani bin Mazelan Marzuki, Hazrimy Ahmad Fathul, Krishnan Pranesh, and Yaacob Sazali. "Design and Physical Modelling Series Elastic Actuator for Ankle-Foot Orthosis." International Journal of Engineering and Advanced Technology (IJEAT) 9, no. 4 (2020): 210–15. https://doi.org/10.35940/ijeat.A1432.069520.

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This paper describes the development of Physical Modelling of Series Elastic Actuator for Active Ankle-Foot Orthosis by using Simscape Multibody Link. Active Ankle-Foot Orthosis is essential that can be used for the rehabilitation process to the patient. It is useful in medicine to help a patient who loses their walking ability, due to ankle weakness, to regain the walking ability. This project focuses on the design, simulate and physical modelling for Ankle-Foot Orthosis. This project was used Solidworks as a platform to design the Active Ankle-Foot Orthosis and using MatLab/Simulink for simu

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6

Lalvani, Veena. "Simulation and Motion Analysis of a Planar Robotic Manipulator Using MATLAB Toolboxes." International Journal for Research in Applied Science and Engineering Technology 13, no. 3 (2025): 1009–13. https://doi.org/10.22214/ijraset.2025.67451.

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This study presents the modeling, simulation, and motion control of a two-degree-of-freedom (DOF) planar robotic manipulator using MATLAB’s Simscape and Robotic System Toolbox. The research focuses on designing a simulated robotic arm capable of executing controlled movements using forward kinematics. The proposed approach involves mechanical model, creation, motion analysis, and control kinematics. The proposed approach involves a creation of a model using simscape multibody blocks, motion analysis, and control execution through Simulink. Furthermore, the study explores future advancements an

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Crenganis, Mihai, Alexandru Barsan, Melania Tera, and Anca Chicea. "Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape." MATEC Web of Conferences 343 (2021): 08004. http://dx.doi.org/10.1051/matecconf/202134308004.

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In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constra

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8

Önen, Ümit, and Abdullah Çakan. "Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controller." International Journal of Robotics and Control Systems 1, no. 1 (2021): 84–89. http://dx.doi.org/10.31763/ijrcs.v1i1.296.

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In this study, modeling and LQR control of a reaction wheel inverted pendulum system is described. The reaction wheel inverted pendulum model is created by using a 3D CAD platform and exported to Simscape Multibody. The multibody model is linearized to derive a state-space representation. A LQR (Linear-quadratic regulator) controller is designed and applied for balance control of the pendulum. The results show that deriving a state-space representation from multibody is an easy and effective way to model dynamic systems and balance control of the reaction wheel inverted pendulum is successfull

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9

Mishchenko, Elena, and Vladimir Mishchenko. "Exploring the CAD model of the manipulator using CAD Translation and Simscape Multibody." E3S Web of Conferences 279 (2021): 03014. http://dx.doi.org/10.1051/e3sconf/202127903014.

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The possibilities of the dynamic research of the manipulator CAD-model after its translation into Simscape Multibody using CAD Translation are considered. The results of the simulation are presented. The described approach to modeling allows you to reproduce the dynamics of a real physical object.

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10

Kalyagin, Maxim, Dmitry Voloshin, and Artemy Mazaev. "Quadcopter flight control system simulation in Simulink and Simscape Multibody." Trudy MAI, no. 112 (2020): 20. http://dx.doi.org/10.34759/trd-2020-112-20.

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11

WIDODO, Akhmad Farid, Fuad Surastyo PRANOTO, Idris Eko PUTRO, and Effendi Dodi ARISANDI. "Enhancing UAV elevator actuator model using multibody dynamics simulation." INCAS BULLETIN 16, no. 1 (2024): 117–24. http://dx.doi.org/10.13111/2066-8201.2024.16.1.12.

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This paper proposes an improved actuator system model for UAV elevators using multibody dynamics simulation. The multibody dynamics simulation employs the Simscape Multibody, module in MATLAB coupled with Simulink to model the servo and hinge moment calculation. The actuator system comprises an electrical servo and mechanical components, including arms, push rods, horns, and the elevator. The electrical servo is modeled using a PID controller and a simplified motor model. The multibody dynamics simulation is employed to capture the dynamics of the mechanical components, coupled with the electr

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12

Xu, Yicun, Yujie Ji, Jiong Yang, et al. "Research on trajectory planning of sub-assembly and unit-assembly robot in shipbuilding industry." Advances in Mechanical Engineering 14, no. 7 (2022): 168781322211124. http://dx.doi.org/10.1177/16878132221112495.

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In shipbuilding, welds in sub-assemblies and unit-assemblies are long and various type. The robot arm needs the gantry movement to cooperate with the welding operation. However, there are joint redundancy and double-arm coordination problems, which cause difficulties in the welding trajectory planning. This paper proposes a strategy of decoupling the dual-arm system into a single-arm system for separate planning and prioritizing joint motion, and conducts welding trajectory planning research based on Matlab’s Simscape Multibody. Firstly, the 3D model of the welding workstation is established,

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13

Sirigu, M., E. Faraggiana, A. Ghigo, and G. Bracco. "Development of MOST, a fast simulation model for optimisation of floating offshore wind turbines in Simscape Multibody." Journal of Physics: Conference Series 2257, no. 1 (2022): 012003. http://dx.doi.org/10.1088/1742-6596/2257/1/012003.

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Abstract the paper presents the development of an innovative non-linear, time domain numerical model for the simulation of offshore floating wind turbines, named MOST. The model is able to evaluate the movement of the platform in six degrees of freedom, the power production and the load cycles acting on the blades. MOST is implemented in Matlab-Simulink environment using Simscape Multibody. The aerodynamics is modelled with the blade element momentum theory and the hydrodynamics is modelled using WEC-Sim, a Simscape library developed by NREL and SANDIA. The use of Simscape offers great flexibi

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14

Djizi, Hamza, Zoubir Zahzouh, and Abdelaziz Lakehal. "Quadcopter Prototype Stability Analysis Using Matlab Simscape Library." Scientific Bulletin of Electrical Engineering Faculty 22, no. 2 (2022): 38–43. http://dx.doi.org/10.2478/sbeef-2022-0018.

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Abstract Nowadays, the use of quadcopters in daily life has become important due to its capabilities and ability to carry out many tasks in many fields like civil, military, industrial, and agricultural fields. The modelling of the quadcopter and deeply understanding its movements is very important to ensure that the simulations of its behaviour are as close as possible to reality and also helps us to design a flight controller. In this work, we used a modern technique on MATLAB (Simscape) to simulate a quadcopter in real-time. At first, we build a quadcopter using Simscape multibody then we s

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Prasad, Karuna Sindhu Krishna, Ilham Fauzi, I. M. E. Darmayasa Adiputra, I. M. P. Arya Winata, and I. W. Widhiada. "Optimasi Performansi Sistem Kontrol Prosthesis Lengan Dengan Menggunakan Metode PID Tuning Dengan MATLAB." Majalah Ilmiah Teknologi Elektro 22, no. 2 (2023): 165. http://dx.doi.org/10.24843/mite.2023.v22i02.p02.

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Prosthesis lengan pada penelitian ini akan melakukan analisis sistem kontrol salah satu jari yang memiliki 3 joint tujuannya adalah untuk mengetahui performa optimal dari sistem kontrol terhadap prosthesis dengan menggunakan 3 gabungan software yaitu autodesk fusion 360 autodesk inventor sebagai desain prosthesis lengan lalu matlab simulink simscape multibody sebagai simulasi tuning PID dengan nilai 4,0715 untuk proportional (P), 99,3021 untuk integral (I), dan 0,039866 untuk (D) menghasilkan performa pergerakan yang memiliki rise time sebesar 0,00431 detik, settling time sebesar 0,026 detik,

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16

Issa, A., and A. Aldair. "Learning the Quadruped Robot by Reinforcement Learning (RL)." Iraqi Journal for Electrical and Electronic Engineering 18, no. 2 (2022): 117–26. http://dx.doi.org/10.37917/ijeee.18.2.15.

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In this paper, a simulation was utilized to create and test the suggested controller and to investigate the ability of a quadruped robot based on the SimScape-Multibody toolbox, with PID controllers and deep deterministic policy gradient DDPG Reinforcement learning (RL) techniques. A quadruped robot has been simulated using three different scenarios based on two methods to control its movement, namely PID and DDPG. Instead of using two links per leg, the quadruped robot was constructed with three links per leg, to maximize movement versatility. The quadruped robot-built architecture uses twelv

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17

Ondočko, Štefan, Jozef Svetlík, Rudolf Jánoš, Ján Semjon, and Miroslav Dovica. "Calculation of Trusses System in MATLAB—Multibody." Applied Sciences 14, no. 20 (2024): 9547. http://dx.doi.org/10.3390/app14209547.

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This article discusses the software tool (Simscape—Multibody program of MATLAB) primarily intended for dynamic and kinematic processes with practical applications in static calculations. Currently, there are few published scientific works utilizing this tool for tasks like basic static calculations of truss systems. We were interested in comparing the calculation using the tools we use in our work and research activities for theoretical calculation; the potential reliance on simulations in the future could help to avoid the necessity of complex theoretical calculations, which can be time-consu

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18

Govindaraj, Gowrishankar, and Arockia Selvakumar Arockia Doss. "Evaluation of Robotic Ankle-Foot Orthosis with Different Actuators Using Simscape Multibody for Foot-Drop Patients." International Journal of Online and Biomedical Engineering (iJOE) 19, no. 10 (2023): 156–68. http://dx.doi.org/10.3991/ijoe.v19i10.40375.

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Gait cycle plays a major role in human locomotion. Patients with neuromuscular problems are unable to walk normally. Foot drop causes difficulty in lifting the front part of the foot and affects the dorsiflexion (DF) and plantar flexion (PF) motion of the foot. Patient with foot drop must use ankle braces to achieve a normal gait. The existing ankle-foot orthosis (AFO) has its own limitations, as it does not produce adequate PF motion. To overcome this scenario, a study was conducted to analyse the two-degrees-of-freedom (DOF) motion of a robotic ankle foot orthosis (RAFO) with a spring-based

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19

Aldair, Ammar A., Auday Al-Mayyahi, and Basil H. Jasim. "Control of Eight-Leg Walking Robot Using Fuzzy Technique Based on SimScape Multibody Toolbox." IOP Conference Series: Materials Science and Engineering 745 (March 21, 2020): 012015. http://dx.doi.org/10.1088/1757-899x/745/1/012015.

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20

Apostolatos, Andreas, Jan Janse van Rensburg, Sebastian Groß, et al. "Development of a Digital Twin for a Mobile Articulated Gripper Robot in Simscape Multibody." SNE Simulation Notes Europe 35, no. 2 (2025): 83–91. https://doi.org/10.11128/sne.35.tn.10732.

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21

Piskur, Pawel, Piotr Szymak, and Bartosz Larzewski. "Shipyard Crane Modeling Methods." Pedagogika-Pedagogy 93, no. 6s (2021): 279–90. http://dx.doi.org/10.53656/ped21-6s.25shi.

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The article discusses various crane mathematical modelling and simulation methodologies. The purpose of this study is to assess the effect of wind force on the dynamic of shipyard cranes, particularly hook movements in the horizontal plane. Appropriate simulation models are required to offer a robust control strategy that allows the crane to be remotely operated in windy circumstances. As a result, mathematical models based on differential equations for varying numbers of independent variables are compared to object-oriented, physical modelling model based on Matlab Simscape Multibody. The ass

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22

Metcalf, Adam G., Justin F. Gallagher, Andrew E. Jackson, and Martin C. Levesley. "Multi-Domain Dynamic Modelling of a Low-Cost Upper Limb Rehabilitation Robot." Robotics 10, no. 4 (2021): 134. http://dx.doi.org/10.3390/robotics10040134.

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Tracking patient progress through a course of robotic tele-rehabilitation requires constant position data logging and comparison, alongside periodic testing with no powered assistance. The test data must be compared with previous test attempts and an ideal baseline, for which a good understanding of the dynamics of the robot is required. The traditional dynamic modelling techniques for serial chain robotics, which involve forming and solving equations of motion, do not adequately describe the multi-domain phenomena that affect the movement of the rehabilitation robot. In this study, a multi-do

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23

Molina, Ludwin, and Marek Iwaniec. "Lower limb models used for biomechanical analysis of human walking." MATEC Web of Conferences 357 (2022): 03006. http://dx.doi.org/10.1051/matecconf/202235703006.

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Over time, many researchers have focused on creating models to mathematically represent movements performed by human lower limbs, such as walking, running, and jumping. These models provide a non-invasive method to estimate kinematic and kinetic parameters under different conditions. This article reviews the main lower limb models used to study human walking and compares their performance with a 3D model consisting of seven links created using the simulation environment Simscape Multibody. A description of each model is presented, highlighting its main characteristics and the assumptions that

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TRUC, Le Ngoc, and Nguyen Tung LAM. "Quasi-physical modeling of robot IRB 120 using Simscape Multibody for dynamic and control simulation." TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES 28, no. 4 (2020): 1949–64. http://dx.doi.org/10.3906/elk-1909-131.

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25

Tawfeeq, Bushra Amer, Maher Yahya Salloom, and Ahmed Alkamachi. "Simulation of a Self-Balancing Platform on the Mobile Car." Al-Khwarizmi Engineering Journal 17, no. 3 (2021): 29–44. http://dx.doi.org/10.22153/kej.2021.09.003.

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 In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, industry. This paper introduced the simulated model of a proposed self-balancing platform that described the self–balancing attitude in (X-axis, Y-axis, or both axis) under the influence of road disturbance. To simulate the self-balanced platform's performance during the tilt, an integration between Solidworks, Simscape, and Simulink toolboxes in MATLAB was used. The platform's dynamic model was drawn in SolidWorks and exported as a S

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26

Simone, Marco Claudio De, Salvio Veneziano, Raffaele Pace, and Domenico Guida. "Multibody Analysis of Sloshing Effect in a Glass Cylinder Container for Visual Inspection Activities." Applied Sciences 14, no. 11 (2024): 4522. http://dx.doi.org/10.3390/app14114522.

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This paper addresses the phenomenon of sloshing and the issues that arise during liquid handling at visual inspection stations. The pharmaceutical industry, recently put under pressure by the pandemic, has long adopted modular solutions consisting mainly of robotic islands. This work focuses on a visual inspection island for glass vials and ampules called VRU. This machine uses robotic arms to optimize the inspection process and enables automated control of a wide range of products using image recognition techniques and AI algorithms. However, the handling of containers in the presence of liqu

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Korytov, M. S., V. S. Shcherbakov, V. V. Titenko, I. E. Kashapova, and V. V. Derkach. "USE OF THE BELLEVILLE SPRING PACKAGE IN THE VIBRATION PROTECTION MECHANISM OF THE OPERATOR'S SEAT." Dynamics of Systems, Mechanisms and Machines 9, no. 1 (2021): 042–51. http://dx.doi.org/10.25206/2310-9793-9-1-42-51.

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Задача снижения вибрационных воздействий на операторов строительных, дорожных и других машин является актуальной, поскольку ее решение позволяет повысить производительность и точность выполняемых машинами работ, снижает риск профессиональных заболеваний операторов. Перспективными являются виброзащитные системы с эффектом квазинулевой жесткости. Для обеспечения данного эффекта могут быть использованы тарельчатые пружины, соединенные в пакеты. Они позволяют создать простой, надежный и недорогой пассивный механизм виброзащитной системы кресла оператора. В работе исследовано влияние наклона центра

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Mohsin, Hasanain, Ammar Aldair, and Walid Al-Hussaibi. "Robust Control Design for Two-Wheel Self-Balanced Mobile Robot." Iraqi Journal for Electrical and Electronic Engineering 19, no. 1 (2022): 38–46. http://dx.doi.org/10.37917/ijeee.19.1.5.

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As a key type of mobile robot, the two-wheel mobile robot has been developed rapidly for varied domestic, health, and industrial applications due to human-like movement and balancing characteristics based on the inverted pendulum theory. This paper presents a developed Two-Wheel Self-Balanced Robot (TWSBR) model under road disturbance effects and simulated using MATLAB Simscape Multibody. The considered physical-mechanical structure of the proposed TWSBS is connected with a Simulink controller scheme by employing physical signal converters to describe the system dynamics efficiently. Through t

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Nawawi, Sophan Wahyudi, Abd Alati Alhadi Mohammed Ahmed, Hasin Abrar Biswas, and Mohammed Alih Jibrin. "Modeling and Simulation of autonomous mobile robot system for collision avoidance in VR environment using Simscape-Multibody." ELEKTRIKA- Journal of Electrical Engineering 21, no. 2 (2022): 33–41. http://dx.doi.org/10.11113/elektrika.v21n2.384.

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Autonomous mobile robots have recently become a centre of attention in the robotics community due to their ease of design, modeling and implementation, making them very lucrative in logistics, monitoring, mapping and other purposes. Fundamentally, collision avoidance is a major aspect of an autonomous mobile robot which requires assistance from other aspects like sensor fusion, localization, path planning etc., to contribute to achieving proper functionality in an open environment, hence the inherently required integration makes it hard to many researchers, robotics and robot enthusiasts to in

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Zou, Yupeng, Xiangshu Wu, Baolong Zhang, Qiang Zhang, Andong Zhang, and Tao Qin. "Stiffness Analysis of Parallel Cable-Driven Upper Limb Rehabilitation Robot." Micromachines 13, no. 2 (2022): 253. http://dx.doi.org/10.3390/mi13020253.

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This paper studies the stiffness of the parallel cable-driven upper limb rehabilitation robot (PCUR). Firstly, it was derived that the static stiffness expression of the PCUR was composed of platform pose stiffness KT and cable pose stiffness KS. It indicated that the static stiffness of the PCUR was related to the cable tension, the arrangement of the cable, and the cable stiffness. Secondly, a simulation model in MATLAB/Simscape Multibody was built. Cable tension was applied to make the moving platform in a static equilibrium state. The stiffness of the PCUR and the external force on the mov

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Nugroho, Emmanuel Agung, Joga Dharma Setiawan, and M. Munadi. "Physical Modeling of a 4-DOF Manipulator for Learning Purposes Using CAD and GUI." International Journal of Mechanical Engineering and Robotics Research 13, no. 3 (2024): 392–401. http://dx.doi.org/10.18178/ijmerr.13.3.392-401.

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The growing popularity of manipulators in industry has increased the need for mastery of knowledge about the kinematics and dynamics of manipulators. On the other hand, manipulators are not affordable items for learning purposes, so modeling is one of the right solutions as well as a new form of contribution to introduce physical manipulators without having to have many manipulators in the laboratory. Through this work, a 4-Degree of Freedom (DOF) manipulator can be physically modeled similarly to its original form as an educational robot, and a dashboard can be designed to control its movemen

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Radu, Alexandru Ionut, Bogdan Adrian Tolea, Horia Beles, Florin Bogdan Scurt, and Adrian Nicolaie Tusinean. "Design and Validation of an Active Headrest System with Integrated Sensing in Rear-End Crash Scenarios." Sensors 25, no. 14 (2025): 4291. https://doi.org/10.3390/s25144291.

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Rear-end collisions represent a major concern in automotive safety, particularly due to the risk of whiplash injuries among vehicle occupants. The accurate simulation of occupant kinematics during such impacts is critical for the development of advanced safety systems. This paper presents an enhanced multibody simulation model specifically designed for rear-end crash scenarios, incorporating integrated active headrest mechanisms and sensor-based activation logic. The model combines detailed representations of vehicle structures, suspension systems, restraint systems, and occupant biomechanics,

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Du, Yuhan, and Kanjian Zhang. "Research on the control system of mirror turntable based on an improved active disturbance rejection controller." Journal of Physics: Conference Series 2996, no. 1 (2025): 012005. https://doi.org/10.1088/1742-6596/2996/1/012005.

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Abstract Aiming at the nonlinear links in the mechanical transmission structure design of the servo system of a large planar mirror turntable and the characteristic that parameters are difficult to identify, this paper designs an active disturbance rejection controller based on an improved nonlinear function to achieve the position servo control of the turntable. Firstly, the physical model of the turntable is built by using the MATLAB/Simulink Simscape-Multibody toolbox, and the mathematical model of the rotating motor is simplified to obtain the overall simulation model of the controlled obj

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Ahmad, U. N., and Y. Xing. "A 2D model for the study of equilibrium glide paths of UiS Subsea Freight-Glider." IOP Conference Series: Materials Science and Engineering 1201, no. 1 (2021): 012022. http://dx.doi.org/10.1088/1757-899x/1201/1/012022.

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Abstract A planar mathematical model for the analysis of equilibrium glide paths of the UiS subsea freight-glider (USFG) is presented. The model is developed using Simscape Multibody in MATLAB/Simulink to study the ever-changing dynamics of the glider. Motion along the heave and pitch direction is regulated by two separate PID controllers. Controllers are tuned for the optimal bandwidth and phase margin to provide the system with ideal gains which satisfy the system requirements. A wide-ranging sensitivity investigation is carried out on the USFG by changing the two key variables, pump flow ra

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Zhou, Zichang. "A Mobile Robot with a Manipulator to Alleviate the Shortage of Health Workers in Hospitals in COVID 19." Highlights in Science, Engineering and Technology 39 (April 1, 2023): 872–80. http://dx.doi.org/10.54097/hset.v39i.6658.

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COVID-19 has brought an unprecedented burden to hospitals. Hospitals are facing many problems, such as understaffing and infected employees. But this has also promoted the development of hospital robots to a certain extent. This paper aimed to develop a robot that can move around the hospital and pick and send stuff to patients. The robot is mainly divided into 2 two parts: the moving part and the grasping part. The moving part includes map construction, localization, and navigation with gmapping, A*, and DWA algorithms that would stimulate on the ROS platform. For the grasping part, the forwa

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Fajardo, Jair, and Leonimer Flávio de Melo. "Towards a Modular Pathological Tremor Simulation System Based on the Stewart Platform." Sensors 23, no. 22 (2023): 9020. http://dx.doi.org/10.3390/s23229020.

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Wearable technologies have aided in reducing pathological tremor symptoms through non-intrusive solutions that aim to identify patterns in involuntary movements and suppress them using actuators positioned at specific joints. However, during the development of these devices, tests were primarily conducted on patients due to the difficulty of faithfully simulating tremors using simulation equipment. Based on studies characterizing tremors in Parkinson’s disease, the development of a robotic manipulator based on the Stewart platform was initiated, with the goal of satisfactorily simulating resti

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De Simone, Marco Claudio, Salvio Veneziano, Alessia Porcaro, and Domenico Guida. "Design of Experiments Approach for Structural Optimization of Urban Air Mobility Vehicles." Actuators 14, no. 4 (2025): 176. https://doi.org/10.3390/act14040176.

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The current global context demands the development of new solutions that prioritize energy efficiency, time optimization, safety, and sustainability. Urban transportation is one of the sectors undergoing significant transformation. Pursuing new urban transportation solutions has become increasingly intense, involving research institutions and companies. Considering this context, this study focused on the optimization procedures for designing a new vehicle capable of vertical take-off for urban air mobility applications. This paper reports on the optimization process of a thruster deployment me

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Pappalardo, Carmine Maria, Marco Del Giudice, Emanuele Baldassarre Oliva, Littorino Stieven, and Alessandro Naddeo. "Computer-Aided Design, Multibody Dynamic Modeling, and Motion Control Analysis of a Quadcopter System for Delivery Applications." Machines 11, no. 4 (2023): 464. http://dx.doi.org/10.3390/machines11040464.

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This paper elaborates on the modeling and control of an Unmanned Aerial Vehicle (UAV) for delivery purposes, thereby integrating computer-aided design, multibody dynamic modeling, and motion control analysis in a unified framework. The UAV system designed in this study and utilized for item delivery has a quadcopter structure composed of four arms connected to a central trunk. In this investigation, the proposed design of the delivery drone is systematically modeled employing the multibody approach, while SIMSCAPE MULTIBODY is the software used for performing the dynamic analysis and for devis

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Giraudo, Luca, Luigi Gianpio Di Maggio, Lorenzo Giorio, and Cristiana Delprete. "Dynamic Multibody Modeling of Spherical Roller Bearings with Localized Defects for Large-Scale Rotating Machinery." Sensors 25, no. 8 (2025): 2419. https://doi.org/10.3390/s25082419.

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Early fault detection in rotating machinery is crucial for optimizing maintenance and minimizing downtime costs, especially in medium-to-large-scale industrial applications. This study presents a multibody model developed in the Simulink® Simscape environment to simulate the dynamic behavior of medium-sized spherical bearings. The model includes descriptions of the six degrees of freedoms of each subcomponent, and was validated by comparison with experimental measurements acquired on a test rig capable of applying heavy radial loads. The results show a good fit between experimental and simulat

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HARADA, Takashi, and Junji FURUSHO. "Dynamical analysis of a novel four-dof parallel robot driven by differential belts and differential screws using Simscape Multibody." Proceedings of Mechanical Engineering Congress, Japan 2022 (2022): S113–08. http://dx.doi.org/10.1299/jsmemecj.2022.s113-08.

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Loreto, Gerardo. "Enseñanza de la teoria de control lineal utilizando simulaciones y plataformas de sistemas aero-propulsados." Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI 7, no. 14 (2020): 89–97. http://dx.doi.org/10.29057/icbi.v7i14.4976.

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El uso de simulaciones como se ha demostrado en diferentes trabajos reportados en la literatura especializada resulta un excelente complemento en la enseñanza tradicional de la teoría de control lineal a nivel ingeniería que se basa en explicaciones orales y sesiones de solución de ejercicios. Sin embargo, la mayoría asume que el conocimiento adquirido mediante simulaciones puede ser transferido a un contexto real por los estudiantes. En el presente trabajo, se desarrolla una metodología de enseñanza que cubre sesiones de simulación basadas en una plataforma desarrollada a partir de la librerí

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Racz, Sever-Gabriel, Mihai Crenganiș, Radu-Eugen Breaz, et al. "Mobile Robots—AHP-Based Actuation Solution Selection and Comparison between Mecanum Wheel Drive and Differential Drive with Regard to Dynamic Loads." Machines 10, no. 10 (2022): 886. http://dx.doi.org/10.3390/machines10100886.

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Mobile robots are increasingly used in industrial applications. There are many constructive solutions for mobile robots using various variants of actuation and control. The proposed work presents a low-cost variant of a mobile robot equipped with Mecanum wheels, which uses brushed DC motors, controlled by the PWM method as the actuation solution. In the first part, a multicriteria analysis based on the AHP method was performed for the selection of the actuation solution. Then, using the software tools Simscape Multibody, Matlab, and Simulink, models were developed that allowed the simulation o

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Laiche, Atif, and Allaoua Boulahia. "Mathematical Modelling and Simulation Analysis of an Aircraft Wing Using SimMechanics." Mathematical Modelling of Engineering Problems 9, no. 3 (2022): 796–802. http://dx.doi.org/10.18280/mmep.090328.

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Flexible structures outperform rigid ones thanks to their lightweight, dexterous maneuverability as well as their suitability towards high vibration. To this end, a rectangular-shaped wing is modeled as a flexible cantilever beam under two loading conditions, namely the former is a uniformly distributed force which is triggered by gravity while the latter is a tip load. In the same context, this paper addresses the lumped parameter method (LPM) for modeling a flexible wing using SimMechanics (also called Simscape Multibody) and Simulink environment by considering the wing as a concatenation of

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Vu, The Trung Giap. "DYNAMIC MODELING PARALLEL ROBOT 3RRR." Journal of Science and Technique 18, no. 01 (2023): 55–73. http://dx.doi.org/10.56651/lqdtu.jst.v18.n01.583.

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This article studies the dynamic modeling of parallel robot 3RRR. Based on analysis and synthesis of results from domestic and foreign studies, the article presents the problem of analyzing the mechanical model, the mathematical model describing the motion of the parallel robot 3RRR as the basis for kinematic and dynamic analysis. The process of calculation and analysis is performed on Maple for intuitive, explicit results and describes the quantities by vivid simulation graphs. From that result, research and develop the model design on SolidWorks software using the Simscape Multibody tool in

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Tran Dinh Hoa, Nguyen Van Khiem та Tran Duc Thien. "Thiết kế, mô phỏng, chế tạo và điều khiển cánh tay robot 3 bậc tự do". Journal of Technical Education Science, № 64 (30 червня 2021): 40–47. http://dx.doi.org/10.54644/jte.64.2021.87.

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Bài báo này hướng đến phương pháp nghiên cứu cách thức chế tạo, mô phỏng và điều khiển một mô hình cánh tay robot 3 bậc di chuyển linh hoạt trong một mặt phẳng. Đầu tiên, quá trình thiết kế mô hình cánh tay robot 3 bậc được thực hiện trên nền tảng Solidworks. Tiếp theo, mô phỏng và tính toán bộ điều khiển PD của cánh tay robot được thực hiện trên Matlab- Simulink với thư viện Simscape Multibody để đánh giá hiệu quả của mô hình và bộ điều khiển. Sau đó, mô hình thực của cánh tay robot được chế tạo cùng với tủ điều khiển. Cuối cùng, mô hình cánh tay robot đã được điều khiển di chuyển bám theo

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Correia, Diogo, and Adelino Ferreira. "Aircrafts On-Ground Dynamics Models and Simulation Software: State-of-the-Art." Sustainability 13, no. 16 (2021): 9147. http://dx.doi.org/10.3390/su13169147.

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The aircraft is a means of transportation that operates mainly in the air; however, it starts and ends its journey on the ground. Due to the aircraft’s structural complexity, simulation tools are used to understand and to predict its behavior in its movements on the ground. Simulation tools allow adjusting the observation parameters to gather a greater amount of data than real tests and explore interactions of the aircraft and their individual components with external objects such as pavement imperfections. This review aims to collect information on how to simulate the aircraft interaction wit

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Kriouile, Abderahman, Soufiane Hamida, and Abdoul Latif Abdou Moussa. "Modeling and enhancing inverse kinematics algorithms for real-time target tracking in inertial stabilization systems." International Journal of Electrical and Computer Engineering (IJECE) 15, no. 2 (2025): 1544. https://doi.org/10.11591/ijece.v15i2.pp1544-1556.

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This study develops a two-axis gimbal system designed to maintain a target within its field of view by compensating for motion of either the target or the platform. The focus is on inertial stabilization platforms (ISPs), where accurate, real-time tracking is essential for applications such as surveillance, navigation, and scientific observation. The research prioritizes the design and optimization of inverse kinematics algorithms to enhance system performance. A detailed analysis of mathematical models underpins the development, addressing challenges in real-time processing with advanced opti

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Singh, Spoorthi, Mohammad Zuber, Mohd Nizar Hamidon, Adi Azriff Basri, Norkhairunnisa Mazlan, and Kamarul Arifin Ahmad. "Kinematic Investigations of a Novel Flapping Actuation Design with Mutually Perpendicular 3 Cylindrical Joint Approach for FW-Drones." Biomimetics 8, no. 2 (2023): 160. http://dx.doi.org/10.3390/biomimetics8020160.

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The transmission mechanism of artificial flapping-wing drones generally needs low weight and the fewest interconnecting components, making their development challenging. The four-bar Linkage mechanism for flapping actuation has generally been used till now with complex and heavy connecting designs, but our proposed novel perpendicularly organized 3-cylindrical joint mechanism is designed to be unique and lighter weight with smooth functioning performance. The proposed prototype transforms the rotary motion of the motor into a specific angle of flapping movement, where the dimensions and specif

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Lee, Sunyeop, Hyeonseok Cho, and Kanghyun Nam. "Dynamic Modeling and Control of a 4-Wheel Narrow Tilting Vehicle." Actuators 13, no. 6 (2024): 210. http://dx.doi.org/10.3390/act13060210.

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The automotive industries currently face challenges such as emission limits, traffic congestion, and limited parking, which have prompted shifts in consumer preferences and modern passenger vehicle requirements towards compact vehicles. However, given the inherent limited width of compact vehicles, the potential risk of vehicle rollover is greater than that of regular vehicles. This paper addresses the safety concerns associated with vehicle rollover, focusing on narrow tilting vehicles (NTVs). Quantifying stability involves numerical indicators such as the lateral load transfer ratio (LTR). A

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Kriouile, Abderahman, Hamida Soufiane, and Abdoul Latif Abdou Moussa. "Modeling and enhancing inverse kinematics algorithms for real-time target tracking in inertial stabilization systems." International Journal of Electrical and Computer Engineering (IJECE) 15, no. 2 (2025): 1544–56. https://doi.org/10.11591/ijece.v15i2.pp1544-1556.

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This study develops a two-axis gimbal system designed to maintain a target within its field of view by compensating for motion of either the target or the platform. The focus is on inertial stabilization platforms (ISPs), where accurate, real-time tracking is essential for applications such as surveillance, navigation, and scientific observation. The research prioritizes the design and optimization of inverse kinematics algorithms to enhance system performance. A detailed analysis of mathematical models underpins the development, addressing challenges in real-time processing with advanced opti

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