Multibody Dynamic Simulation And Load Analysis Of A Robotic Manipulator Using Pybullet

Abstract

Robotic Manipulators Are Extensively Used In Industrial Automation For Precision-driven Tasks Such As Object Handling, Assembly, And Material Transfer. Accurate Motion And Load Analysis Are Essential To Ensure Operational Stability And Prevent Mechanical Failure. This Paper Presents A Multibody Dynamic Simulation Framework For Evaluating The Motion Behaviour And Load-bearing Capacity Of A Robotic Manipulator Using PyBullet. A Multi-degree-of-freedom Robotic Arm Model Was Developed Using URDF With Realistic Mass And Inertia Properties. The System Integrates Forward Kinematics, Inverse Kinematics, And Newton–Euler Dynamic Modelling To Analyse Joint Torque Under Varying Payload Conditions. In Addition, The Framework Incorporates A Digital Twin–based Simulation Environment With A Graphical User Interface For Parameter Input And Control, Along With AI-based Object Detection Using The YOLO Model For Identifying Target Objects Within The Simulation. Real-time Simulation Data, Including Joint Angles, Torque Values, Positional Parameters, And End-effector Trajectories, Were Logged And Analyzed For Performance Evaluation. Experimental Results Demonstrate The Relationship Between Payload Mass And Torque Requirements, Identifying Safe Operational Thresholds. The Developed System Was Successfully Implemented And Tested, Demonstrating That Physics-based Digital Twin Simulation Provides An Efficient And Reliable Approach For Analysing Robotic Manipulator Dynamics Before Hardware Implementation.

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