This project shows how to create a system-level simplified parametric Cartesian robot model in Simscape™ Multibody™ to accelerate Computer Aided Design (CAD) development. Cartesian robots operate on three linear axes (X, Y, and Z). They are widely used in applications such as CNC machining, 3D printing, and automated assembly due to their straightforward movement and control. The development of Cartesian robots involves the design, control, and implementation of mechanical systems capable of performing precise tasks. Mechanical designers often use Computer-Aided Design (CAD) models to evaluate a design. To meet all the functional requirements, the CAD design process is generally iterative and can be time consuming. You can accelerate the development process by starting with a system-level analysis to evaluate your options.
This project contains a system-level simplified parametric Cartesian robot model for 3D printing operation. Run this model for Cantilever Cartesian or Gantry robot configuration. Create custom trajectories to analyze the path tracing for 3D printing operation.
To design your own Cartesian robot, you can leverage the existing custom library blocks or create your new custom blocks.
The project contains custom library blocks such as Linear Stage, Column, Mount. The custom library blocks serve as early-stage or system-level mechanical design tools for quick prototyping and development of a simplified parametric Cartesian robot. The custom library blocks use the foundation of Simscape Multibody. You can parameterize the custom library blocks to suit your application and assemble them with an electrical actuation system and a multiloop control system.
This project contains workflows that show you how to:
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Develop a Cartesian robot model programmatically using Simscape Multibody in MATLAB®.
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Perform positional accuracy analysis for a Cartesian robot to determine accuracy for a 3D printing operation.
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- Clone the project repository.
- Open CartesianRobotSimscape.prj to get started with the project.
- Requires MATLAB® release R2024b or newer.
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