Advancements in Precision Trajectory Generation: A Synergistic Approach to Design and Implementation for the 5-DOF Alpha-II Robot’s Digital and Physical Twins

Advancements in Precision Trajectory Generation: A Synergistic Approach to Design and Implementation for the 5-DOF Alpha-II Robot's Digital and Physical Twins

Sardar Muhammad Ali,

Department of Electrical Engineering, (DEE) Pakistan Institute of Engineering and Applied Sciences,

Islamabad, Pakistan

Alisardar0211@gmail.com bsee2052@pieas.edu.pk

ORCID iD: https://orcid.org/0009-0009- 8585-4868

Abstract:

This research paper explores the comprehensive design and verification process of a 5-DOF articulated robotic arm, named the Alpha-II. Leveraging SolidWorks and CoppeliaSim, the digital twin is meticulously developed, with kinematics and working envelope computations verified on CoppeliaSim and MATLAB. The transition to CoppeliaSim for testing involves the implementation of diverse control strategies, such as position control, velocity control, and torque control, to rigorously evaluate the manipulator's movements.

Highlighting the synergy between SolidWorks and CoppeliaSim, this literature emphasizes the versatility of SolidWorks in digital twin design and the effectiveness of CoppeliaSim's virtual environment. The research culminates in the creation of a physical twin, aligning with the meticulously crafted digital counterpart.

This study not only advances the understanding of trajectory generation for 5-DOF robotic arms but also underscores the pivotal role of cohesive digital and physical twin methodologies in cutting-edge robotics research. The rigorous verification, testing, and synthesis process contribute to the development of a refined and thoroughly validated end product, showcasing the significance of integrating simulation tools in the design and analysis of robotic systems.