Intelligent-Oriented Virtual Prototyping of a 6-DOF Robotic Manipulator through Coupled Multibody Dynamics and Modal Analysis for Smart Agricultural Applications

Mohammadi, Mohammad; Bazargan Lari, Yousef; Fazel, Dara; Nazemosadat, Seyed Mohammad Reza

doi:10.22103/bbr.2026.27632.1163

Intelligent-Oriented Virtual Prototyping of a 6-DOF Robotic Manipulator through Coupled Multibody Dynamics and Modal Analysis for Smart Agricultural Applications

Articles in Press

Document Type : Original Research

Authors

Mohammad Mohammadi

Yousef Bazargan Lari

Dara Fazel

Seyed Mohammad Reza Nazemosadat

Department of Mechanical Engineering, Shi.C., Islamic Azad University, Shiraz, Iran

10.22103/bbr.2026.27632.1163

Abstract

This study introduces a virtual prototyping framework that couples multibody dynamics with finite-element-based modal analysis to design and numerically assess a six-degree-of-freedom robotic manipulator for smart agricultural applications. A CAD model was developed in SolidWorks and imported into ADAMS to evaluate joint torques, accelerations, and compliant contact interactions under realistic motion cycles. Nonlinear damping and Coulomb friction were included to emulate soft-object grasping and placement. Simulations indicated sub-millimeter positioning accuracy (<0.5 mm), a peak base-joint torque of 15 N•m, and maximum transient accelerations of 3.2 m/s². Modal analysis of critical components identified natural frequencies ranging from 638 to 5856 Hz and maximum operational displacements ≤0.42 mm, providing a basis for assessing the system’s vibrational and structural behavior. The unified multibody–modal loop addresses a gap in the literature by integrating contact-rich dynamics with structural verification, providing a simulation-based pathway for early-stage design that reduces reliance on costly physical prototypes. The framework also establishes a foundation for incorporating intelligent control, adaptive algorithms, and sensor-driven feedback in next-generation robotic manipulators for smart agriculture and precision automation.

Keywords

Multibody Dynamics

6-DOF Manipulator

Modal Analysis

Virtual Prototyping

Smart Agriculture

Contact Modeling

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