Sim4RAD: A MATLAB Toolkit for Design-Phase Sizing, Actuator Selection and URDF-Model Verification of Serial Robotic Arms
Sim4RAD: A MATLAB Toolkit for Design-Phase Sizing, Actuator Selection and URDF-Model Verification of Serial Robotic Arms
Sim4RAD is a MATLAB toolkit for actuator sizing and verification in the design phase of serial robotic arms. It provides static, dynamic, stochastic, and workspace/dexterity analyses to determine joint torque and velocity specifications. The tool uses a URDF model for verification and demonstrates how different joint configurations affect torque requirements and dexterity, highlighting the importance of scenario-based design over trajectory-specific optimization.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
trajectories
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Trajectory count
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bining lever-arm sampling with a posture search, giving a rated torque at a chosen payload envelope and a reproducible peak torque; a dynamics pipeline that reshapes a trajectory under one of four constraints, including the actuator torque-speed envelope; a stochastic analysis over many random motions, so a specification rests on a class of motions, not one trajectory; and a workspace and dexterity analysis that sepa
Open source S3
arget than for a 2 s motion: the scenario, not the trajectory, must be fixed first. Verification should use the URDF model of the detailed design; the toolkit is available at https://github.com/LasterLi/Sim4RAD.
Open source S6
Source：arXiv Robotics — research abstracts · arxiv.org