Modeling and analysis of a robotic system in SimMechanics and MATLAB

Sammanfattning

This thesis presents a structured approach for the modeling and simulation of a multi-link roboticsystem by integrating CAD-based mechanical design with multibody simulation tools. The studyfocuses on the use of CAD-derived geometric and inertial parameters to support kinematic anddynamic analysis during early design stages. A three-degree-of-freedom robotic system isconsidered as a representative case study.The robotic structure is developed in a CAD environment, where physical properties such as massdistribution and moments of inertia are defined. These parameters are transferred into amultibody simulation framework to analyze joint motion and torque requirements underspecified operating conditions. Analytical kinematic and dynamic formulations are used asreference models to support interpretation of simulation results.The results demonstrate consistent behavior between analytical expectations and simulationoutputs under identical assumptions. The proposed workflow illustrates how establishedmodeling and simulation tools can be applied in a coordinated manner to support early-stageevaluation of robotic system behavior. This work does not introduce new modeling theory butdemonstrates a structured application of existing tools for robotic system analysis