🔷 Project Overview

This project presents a complete design, modeling, and simulation of a 2-DOF planar robotic manipulator using MATLAB Simulink and Simscape Multibody.
It is built to help users visually understand robot kinematics, DH parameter modeling, and Simscape-based animation in a clean and practical way.

The project combines theory + simulation + visualization, making it ideal for learning, teaching, and academic demonstrations.

🔷 What You Will Get in This Project

When you download this project, you will receive a fully working Simulink model along with clear documentation and visual animation.

✅ 1. 2-DOF Robot Manipulator Model (Simscape)

• A two-revolute-joint planar robot arm

• Physically modeled using Simscape Multibody

• Rigid body links with proper joints and frames

• Realistic 3D visualization (as shown in the image)

✅ 2. Denavit–Hartenberg (DH) Parameter Implementation

A properly defined DH parameter table for the robot, including:

• Joint angles (θ₁, θ₂)

• Link lengths (L₁, L₂)

• Link offsets

• Link twists (α)

This allows users to clearly understand:

• How DH parameters map to a real robot

• How kinematic chains are formed

✅ 3. Forward Kinematics Block (XYZ End-Effector Output)

• Custom forward kinematics implementation

• Computes end-effector X, Y, Z position

• Outputs connected directly to scopes/graphs

• Helps visualize how joint angles affect robot position

✅ 4. User-Controlled Joint Inputs

• Two joint angle inputs (q1, q2)

• Can be driven by:

  • Constant blocks

  • Step inputs

  • Sine waves

  • Trajectory signals

• Perfect for testing different robot motions

✅ 5. Simscape 3D Animation

• Smooth 3D animation of the robot arm

• Visual coordinate axes (X, Y, Z)

• Real-time movement based on joint inputs

• Makes learning intuitive and visual

✅ 6. Graphs & Visualization

• Joint signals routed to scopes

• End-effector position plots

• Easy to extend for:

  • Trajectory tracking

  • Control design

  • Performance analysis

🔷 Software Requirements

• MATLAB 2021a or above

• Simulink

• Simscape Multibody

(No external toolboxes required beyond Simscape)

🔷 Skill Level

✔ Beginner to Intermediate
✔ Suitable even if you are new to Simscape, but basic Simulink knowledge is recommended

🔷 Who This Project Is For

• 🎓 Mechanical / Mechatronics Engineering Students

• 🤖 Robotics & Automation Learners

• 🧑‍🏫 Teachers & Lab Instructors

• 🔬 Researchers building robot prototypes

• 📘 Anyone learning robot kinematics using MATLAB

🔷 Use Cases

• Academic assignments & lab work

• Teaching DH parameters & kinematics

• Final Year Project foundation

• Robotics simulation demonstrations

• Learning Simscape Multibody modeling

🔷 Why This Project Is Valuable

✨ Clean and easy-to-understand model
✨ Real Simscape physics (not just equations)
✨ Professional visualization
✨ Ready-to-use & extendable
✨ Saves hours of setup time