Kinematic Analysis and Simulation of a 6 DOF Robot in a Web-Based Platform Using CAD File Import

Abstract

The current trend of simulator-based analysis, especially in the area of robotics had emerged broadly. This kind of simulation gives initial familiarization of the system, which is very useful for introductory level courses in robotics as well as research-based work. Simulation developed through any commercial software’s requires its installation on the user’s system for any animation or analysis. Therefore, an open source platform for this type of robot motion analysis had a much impact due to its light version, better graphics, and web-based running capability. This paper describes an efficient and very straightforward approach of building a 6 degree of freedom KGP50 robot simulation model in a web interface using WebGL technology. Here a component is first designed in SolidWorks and then it is imported directly into the WebGL-based platform utilizing a library of Three.js. The forward kinematics analysis of our KGP50 robot is presented through this simulator, which gives the idea of the whole framework and also an exploration of the KGP50 robot.