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

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 involvesthe 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 culminatesin 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 toolsin the design and analysis of robotic systems.