A Simscape Multibody-Based Approach for Enhanced Dynamic Simulation of 6-Axis Robots

In the field of robotic system simulation, traditional approaches often rely on mathematical models derived from the robot’s kinematics and dynamics. However, these models face significant challenges when incorporating nonlinear effects such as joint friction, actuator behavior, and other. As a result, the simulation outputs tend to be idealized, reliability and limiting their use in practice. This paper proposes a for a 6-degree-of-freedom (6-DOF) robotic manipulator using MATLAB's Simscape Multibody environment. Unlike conventional methods, this approach allows for the direct integration of physical properties, constraints, and geometries based on 3D CAD models. The robot is represented as a multibody system connected through physical joints and domains, to real mechanical behavior. The proposed method is validated through comparative simulations, demonstrating its effectiveness and accuracy in replicating ideal motion scenarios. The study highlights the advantages of using for realism, design verification, and dependency on physical prototypes.