How to control 3 RRR robot in simescape

I’’ trying to create a 3 RRR robot that has 3 active joints controlling 6 passive joints the active joint are in the side and the links are divided into two rectangle parts between each 2 parts a revolute passive joints then they are all connected to a rectangle part with 3 holes that represented my end effector and on it the other 3 passive joints i made it in the solid works how can i make it move on simescape

Answer 1

[Anurag Ojha]

Hey Salma,

I understand you are trying to animate 3 RRR robot in Simscape which is already present in SolidWorks and are trying to move it to Simscape.You can follow the steps below to do it:

Firstly, to import the SolidWorks Model to Simscape you can follow the below steps:

1. In SolidWorks, save the robot model as a STEP file.
2. Open Simulink and create a new model.
3. Open the Simscape Multibody Link Explorer by selecting Simscape > Multibody Link > Link Editor from the Simulink menu.
4. In the Link Editor, click on the Import button on the toolbar.
5. In the Import dialog box, navigate to the STEP file that you saved in Step 1, select it, and click on Open.
6. In the Import Options dialog, select the appropriate units. The units that you choose must match the units that you used in the SolidWorks model.
7. After selecting the units, click on the Import button in the dialog.
8. The SolidWorks model will now be imported into the Simscape Multibody block library.

Now once your model is imported to simulate it in simscape you can follow these steps:

1. Drag and drop the block into your Simulink model.
2. In the Simscape Import tool, browse the saved SolidWorks model, select it, and click the Convert button to convert your model to a Simscape Multibody model.
3. When the conversion is complete, a new window will open, displaying the Simulink model, where you can manipulate the robot.
4. In the Simulink model, the robot model's blocks will be imported as Simscape Multibody blocks. Add a "PS-Simulink" interface block from the Simscape foundation library, which is used to convert signals between Simscape Multibody blocks and Simulink blocks.
5. Assign actuator signals to joint variables, which can be done by adding actuation blocks such as "PS Constant" blocks to the joints' inputs. By varying the input signals, you can control your robot's movements. For example, a positive input signal on the first revolute joint's input will cause the link to rotate counterclockwise, and a negative signal will produce the opposite effect.
6. Once you have assigned actuation signals, save the model and hit the Run button to run the simulation.
7. The robot's movements in the 3D visualization window should now be displayed in the Simulink model

To explore further:

• Model Import
• Model and simulate multibody systems

Hope it helps!!