SimulationX Documentation

• Josiah with XPI helped us model the current model of the arm in simulationX to get more accurate simulation data on the workspace, torque output, and performance of the arm.

• Data will help us proceed with actuator redesign, arm path planning, etc.

• This model can be can be edited and worked on with future arm design iterations

Josiah Meeting Notes:

• Goal of the meeting is to go over intial model of the arm with rigid bodies representing each axis, and the 1D gearbox motor set ups

Billy notes:

1. PID → FMU → Can use sim and our software to do SIL

2. Feedback loop

3. Double click CAD model block to edit parameters

   1. mass, center of mass, fixed intertia

4.