How do I start modelling a liquid handling robot in Matlab?

I would like to model a liquid handling robot in Matlab (image of robot attached below), but I do not know how to do so or how to get started. I have seen tutorials online for designing an articulated robot, however that does not apply to me. I need the robot to be able to pipette fluid and move in the x, y, or z directions. Thanks!

Any help and guidance to start modelling this type of robot would be greatly appreciated. Thanks!

Answer 1

[Sam Chak]

Hi @John Smith

Start by defining the coordinate frame. The Cartesian grid seems to fit in this application.

Next, define the rest position of the end effector (designed to interact with the fluid).

Then, apply Newton's law of motion to derive something like this:

where to be designed so that the end effector moves to the reference location described by Cartesian system.

Refine the model if you want to include the effects of gravity and frictions.