Rearrange simulink blocks connected to world frame

Hi,

I have prepared a 3r robot 3d model in inventor software and imported it into simulink. There are no assembly constraints such as rotation , joint specified in 3D software.When i import the 3d model into simulink all the blocks are connected to world frame through 6DOF.I have attached the image. I am planning to replace 6DOF joints with revolute.I want to make all joints rotate to each other. When i simulate this rightnow individual joints are rotated seperately as they are connected to world frame. How can i rearrange them so that they are connected to each other while rotating? I have also attached the simulation snip after 6DOF joints are replaced with Revolute joints.

Answer 1

[Abhinaya Kennedy]

Hi Claude,

To make your 3R robot's joints rotate relative to each other in Simulink,

1. First remove the existing 6DOF joints that connect to the world frame.
2. Replace them with revolute joints at the points of articulation between the robot's links.
3. Establish a hierarchy where each link is connected to the previous one, starting from the base.
4. Configure the revolute joints with appropriate parameters such as axis of rotation and motion limits.
5. Connect the joints to the corresponding solid blocks representing the robot's links, ensuring they form a kinematic chain.
6. Simulate the model to test and adjust as necessary, then add actuators and sensors if required, and fine-tune the physical parameters to match the real robot.

Hope this helps!