Desenvolvimento de um gêmeo digital para um braço robótico com três graus de liberdade

Abstract

This Final Undergraduate Project presents the development and simulation of a digital twin of an articulated robotic arm, using the integration between SolidWorks and MATLAB/Simulink platforms, through the Simscape Multibody environment. The main objective is to create a detailed virtual representation of the physical manipulator, capable of reproducing its kinematic and dynamic behavior in real time, enabling high-fidelity testing of control and trajectory planning strategies. The mechanical model was initially built in SolidWorks, with custom-designed parts structured to enable three rotational degrees of freedom. After full assembly, the robot was exported to MATLAB in XML format using the Simscape Multibody Link tool. From this model, a physical schematic of rigid bodies and revolute joints was automatically generated, compatible with multiscale simulations. Subsequently, functional blocks were implemented in Simulink for generating Cartesian space trajectories using 4×4 homogeneous transformation matrices, along with inverse kinematics algorithms that converted desired poses into joint angles. Feedback control was performed using PID blocks connected to angular error comparators, enabling independent control of each joint. The integration of all components resulted in a functional digital twin, tested with various trajectories and validated in terms of accuracy and stability. The developed model contributes to advancing applications in automation, education, and the development of digital prototypes in the fields of robotics and cyber-physical systems.