Kinematics and Dynamics Simulation of Parallel Robots Using MATLAB

This research focuses on kinematics and dynamics simulation of parallel robots utilizing MATLAB. During the simulation process, we conduct in-depth investigations into the robot's kinematic and dynamic characteristics with detailed analysis. The study involves analyzing the robot's motion patterns and mechanical properties while evaluating its performance under various environmental conditions. Key implementation aspects include developing MATLAB scripts for forward/inverse kinematics calculations and dynamics modeling using Euler-Lagrange equations. Additionally, we examine the robot's control system architecture, incorporating sensor integration and actuator control mechanisms, along with their practical applications in simulation. The research employs MATLAB's Simulink toolbox for multi-body system simulation and utilizes symbolic math toolbox for dynamic equation derivation. Through this study, we gain deeper insights into parallel robots' kinematic and dynamic behaviors, establishing foundational knowledge and guidance for future research endeavors. The implementation demonstrates real-time simulation capabilities through MATLAB's ODE solvers and visualization tools for robot trajectory plotting.