Dynamic Multibody Simulation of a 6-DOF Robotic Arm
Based on the kinematic model with Cartesian structure, Newton-Euler like algo¬rithm being employed to solve the nonlinear equations of motion and constraints in real-time application, and dynamic multibody simulation, a novel integrated design for a 6-DOF ro¬bot is investigated, and the interfaces required for the implementation of different computer aided engineering (CAE) tools used in the design is addressed .The presented method in this paper was analyzed and verified by the numerical and physical 6-DOF robot model, the result shows that the topologic projection me-thod  is stable. The design experience accumulated will be very useful for the future product de-sign.
Liangchi Zhang, Chunliang Zhang and Tielin Shi
B. Li et al., "Dynamic Multibody Simulation of a 6-DOF Robotic Arm", Advanced Materials Research, Vols. 139-141, pp. 1001-1004, 2010