3-DOF Articulated Robot Arm in Simulink & Simscape Multibody

📌 Project Overview

This project presents a complete 3-DOF articulated (RRR) robot arm model developed in MATLAB Simulink using Simscape Multibody, based on Denavit–Hartenberg (DH) kinematic modeling.

The robot includes a rotating base, shoulder joint, and elbow joint, enabling true 3D workspace motion.

The model is implemented as a physics-based multibody system, making it ideal for robotics education, simulation, and research-oriented learning.

This is not a planar robot — it is a true articulated manipulator, similar in structure to real industrial robotic arms.

⚙️ Key Features

✔ Simulink + Simscape Multibody based robot model

✔ Standard Denavit–Hartenberg (DH) parameter modeling

✔ 3-DOF articulated RRR configuration

✔ Forward kinematics implemented via homogeneous transformation logic

✔ Realistic 3D mechanical visualization

✔ Ready-to-run Simulink (.slx) model

✔ Clean structure, easy to modify and extend

✔ Suitable for academic, teaching, and self-learning purposes

🤖 Robot Configuration

Type: Articulated Manipulator

Degrees of Freedom: 3 (RRR)

Joint 1: Base rotation (vertical axis)

Joint 2: Shoulder pitch

Joint 3: Elbow pitch

Workspace: 3D (volumetric)

🧪 What You Will Learn

How to model articulated robots in Simulink using DH parameters

Difference between planar and articulated manipulators

Frame assignment and joint axis orientation

Forward kinematics interpretation in simulation

Simscape Multibody robot modeling workflow

Foundations for robot control and trajectory planning

📦 What’s Included in the Download

✔ Simulink (.slx) model file

✔ Simscape Multibody robot structure

✔ DH parameter configuration

✔ 3D mechanical visualization

✔ Ready-to-run project setup

✔ Well-organized and reusable model

🎓 Who This Project Is For

Robotics & Mechatronics students

Engineering educators & lecturers

Simulink / Simscape learners

Researchers building custom robot manipulators

Content creators & technical educators

🛠 Software Requirements

MATLAB (R2020a or newer recommended)

Simulink

Simscape Multibody

⭐ Why Buy This Project?

✔ Physics-based multibody simulation

✔ Industry-relevant articulated robot structure

✔ Perfect for assignments, demos, and teaching labs

✔ Saves hours of modeling and setup time

✔ Designed by an engineering-focused creator

🔄 Possible Extensions (Future Use)

Inverse kinematics

Trajectory planning

PID / MPC control

Sensor integration

Workspace and reachability analysis

🚀 Build and simulate real articulated robot arms using Simulink & Simscape Multibody.