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This paper presents a multibody simulation for the motion study of a spherical parallel manipulator (SPM) in the coaxial configuration. The simulation process is carried out in Matlab-Simulink by using Simscape Multibody toolbox. The mechanism’s CAD model is exported from SolidWorks environment into the Simscape toolbox and the generated block diagram is used to analize the direct kinematics of the SPM. Simulation results are compared with analytical models reported in literature to prove the validity of the obtained multibody simulation model which can be used for higher order kinematic and dynamic analysis, actuators dimensioning, the optimization and control of the SPM.

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A Multibody Simulation Approach for Kinematics of a Coaxial Spherical Parallel Manipulator

  • 会议论文

  • 发表日期：

    2026年

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  • Eduardo Ferra-García,
  • Manuel Arias-Montiel

摘要

This paper presents a multibody simulation for the motion study of a spherical parallel manipulator (SPM) in the coaxial configuration. The simulation process is carried out in Matlab-Simulink by using Simscape Multibody toolbox. The mechanism’s CAD model is exported from SolidWorks environment into the Simscape toolbox and the generated block diagram is used to analize the direct kinematics of the SPM. Simulation results are compared with analytical models reported in literature to prove the validity of the obtained multibody simulation model which can be used for higher order kinematic and dynamic analysis, actuators dimensioning, the optimization and control of the SPM.