Sim4RAD: MATLAB Toolkit for Robotic Arm Design and Actuator Analysis
Overview
Sim4RAD is a MATLAB toolkit for actuator sizing and verification in robotic arm design, offering static, dynamic, and workspace analyses to determine joint torque and velocity requirements using URDF models. It emphasizes scenario-based design over trajectory-specific optimization for improved dexterity and torque efficiency in serial robotic arms.
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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”
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- arXiv Robotics — research abstractsSim4RAD: 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.
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