Model files for Lightweight robot development (5DOF)

These simulink model files were used for developing 5-DOF lightweight robot model, which was later manufactured..

These model files are used to model a 5-DOF lightweight robot. The robot was later manufactured and its performance was compared with the simulated version.

The model files include the models of Integrated Drive Joints (IDJs) which were made of models of completely commercially available components. The frameless BLDC motors, strain wave gears, and the other components along with the housing was models in two steps. The electrical portion was modeled via simulink motor and gear models, present in SimScape Toolbox, whereas the structural characteristics light inertia and weights were modeled through SolidWorks and imported into simulink.

Using the 'Start.m' file the simulation may be started, provided that the robot CAD model file addresses has been updated manually in the links of the robot simulink model. Moreover, the trajectory generated by the simulated robot is stored that later is fed to the model file containing IDJs models made of commercially available components. The IDJs can be reconfigured easily to any commercially available frameless BLDC motor by providing the parameters that can be easily found from the datasheet of the motor. The motion produced by the IDJs is once again stored so that it may be compared with the physically manufactured robot.

The author may be contacted for queries and explanations at [e-mail].

This whole work is part of a PhD thesis of the author, based on which the following publication was made.

• Abbas MR, Ahsan M, Iqbal J (2024) Experimental development of lightweight manipulators with improved design cycle time that leverages off-the-shelf robotic arm components. PLoS ONE 19(7): e0305379. https://doi.org/ 10.1371/journal.pone.0305379