{"title":"CoppeliaSim (V-REP)机器人仿真软件中球面并联机器人的建模与仿真","authors":"I. Tursynbek, A. Shintemirov","doi":"10.1109/NIR50484.2020.9290227","DOIUrl":null,"url":null,"abstract":"This paper presents a new methodology for modeling and simulation of spherical parallel manipulators (SPM) in CoppeliaSim (V-REP) robot simulator software. Using a SPM with coaxial input shafts as the case study, the steps for the robot SolidWorks CAD model importing, modeling in CoppeliaSim and interfacing with MATLAB for external control of the robot model are described in detail. The SPM motion simulation results are then presented and verified on an experimental 3D-printed system prototype.","PeriodicalId":274976,"journal":{"name":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Modeling and Simulation of Spherical Parallel Manipulators in CoppeliaSim (V-REP) Robot Simulator Software\",\"authors\":\"I. Tursynbek, A. Shintemirov\",\"doi\":\"10.1109/NIR50484.2020.9290227\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a new methodology for modeling and simulation of spherical parallel manipulators (SPM) in CoppeliaSim (V-REP) robot simulator software. Using a SPM with coaxial input shafts as the case study, the steps for the robot SolidWorks CAD model importing, modeling in CoppeliaSim and interfacing with MATLAB for external control of the robot model are described in detail. The SPM motion simulation results are then presented and verified on an experimental 3D-printed system prototype.\",\"PeriodicalId\":274976,\"journal\":{\"name\":\"2020 International Conference Nonlinearity, Information and Robotics (NIR)\",\"volume\":\"13 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-12-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 International Conference Nonlinearity, Information and Robotics (NIR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/NIR50484.2020.9290227\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 International Conference Nonlinearity, Information and Robotics (NIR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/NIR50484.2020.9290227","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Modeling and Simulation of Spherical Parallel Manipulators in CoppeliaSim (V-REP) Robot Simulator Software
This paper presents a new methodology for modeling and simulation of spherical parallel manipulators (SPM) in CoppeliaSim (V-REP) robot simulator software. Using a SPM with coaxial input shafts as the case study, the steps for the robot SolidWorks CAD model importing, modeling in CoppeliaSim and interfacing with MATLAB for external control of the robot model are described in detail. The SPM motion simulation results are then presented and verified on an experimental 3D-printed system prototype.
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