This project delivers a complete robotics engineering workflow, combining:

✅ CAD modeling
✅ Dynamic mathematical modeling
✅ Physics-based simulation

The 2-DOF planar robotic manipulator is modeled using Lagrangian dynamics and simulated in MATLAB Simscape Multibody, providing realistic motion governed by physical laws rather than simple animation.

Additionally, original CAD files are included, allowing users to modify geometry, perform mechanical analysis, or integrate with hardware designs.

⚙️ What This Project Demonstrates

✔ Robot CAD model development
✔ Homogeneous transformation matrices
✔ Lagrange dynamic formulation
✔ Kinetic & potential energy modeling
✔ Mass $M(q)$, Coriolis C(q,q˙)C(q,\dot q)C(q,q˙​), and Gravity $G(q)$ matrices
✔ Physics-based multibody simulation
✔ Realistic motion under gravity effects
✔ CAD-to-Simulation workflow

📊 Key Features

✅ MATLAB Simscape Multibody robotic simulation
✅ Complete dynamic equations implementation
✅ Editable and modular Simulink model
✅ Realistic rigid-body physics interaction
✅ Engineering-grade visualization
✅ Research-ready robotics framework
✅ CAD models ready for modification

🧩 CAD Files Included (HIGH VALUE)

✔ SOLIDWORKS Part Files (.SLDPRT)
✔ STEP Files (.STEP) — compatible with all major CAD software:

• SolidWorks

• Fusion 360

• Inventor

• CATIA

• Siemens NX

• FreeCAD

Perfect for mechanical redesign, manufacturing studies, or hardware prototyping.

🎓 Ideal For

• Robotics & Mechatronics students

• Mechanical engineering students

• Control systems learners

• Graduate research & thesis projects

• Robotics educators & lecturers

• Simulation & CAD learners

🧠 Concepts You Will Learn

• Robot Dynamics vs Kinematics

• Lagrange Modeling Method

• Multibody Physical Simulation

• CAD-to-Simulation Integration

• Gravity & torque effects in manipulators

• Engineering system modeling workflow

🖥️ System Requirements

✔ MATLAB R2019a or later (Note this project made on MATLAB 2025b, but you can export to previous version by using matlab simulink online)
✔ Simulink
✔ Simscape Multibody Toolbox
✔ SOLIDWORKS (optional for CAD editing)
✔ Windows / macOS / Linux

📦 What You Will Receive

✅ MATLAB Scripts (.m)
✅ Simulink Model (.slx)
✅ Simscape Multibody Robot Model
✅ Dynamic Equation Implementation
✅ SOLIDWORKS Files (.SLDPRT)
✅ STEP CAD Files (.STEP)
✅ Ready-to-Run Simulation Setup
✅ Organized Project Folder

🚀 Future Extensions

This project can be extended toward:

➡ PID / Computed Torque Control
➡ Trajectory Tracking
➡ Hardware Robot Development
➡ ROS Integration
➡ AI-based Robotics Control
➡ Digital Twin Development

⭐ Why This Project Stands Out

Most robotics projects provide only simulations.

This package delivers the complete engineering pipeline:

CAD Design → Mathematical Modeling → Dynamic Simulation

making it suitable for academic, research, and professional robotics learning.