{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T01:34:26Z","timestamp":1760060066304,"version":"build-2065373602"},"reference-count":35,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2025,7,29]],"date-time":"2025-07-29T00:00:00Z","timestamp":1753747200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"State Key Laboratory of Digital Intelligent Technology for Unmanned Coal Mining","award":["SKLMRDPC22KF23","JZ2024HGTB0221"],"award-info":[{"award-number":["SKLMRDPC22KF23","JZ2024HGTB0221"]}]},{"name":"Fundamental Research Funds for the Central Universities","award":["SKLMRDPC22KF23","JZ2024HGTB0221"],"award-info":[{"award-number":["SKLMRDPC22KF23","JZ2024HGTB0221"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>With the application and rapid development of light industrial robots, it is vital to accelerate the prototype design to fulfill the demands of shortening the robot\u2019s production cycle, owing to rapid update iterations. Since the traditional design method cannot intuitively and efficiently check the deficiencies in the design preparation, the secondary design iterations will result in higher equipment costs, longer design cycles, and lower development efficiency. The MBD (model-based design), a full 3D (three-dimensional) design and manufacturing method, is proposed to swiftly finish the prototype design for solving the above problems. Firstly, the robot design preparation is completed with the design requirements to generate a robot 3D model. Secondly, several design methods are used: (i) the rapid prototyping, which includes the joint component verification and selection to further optimize the 3D model; (ii) the robot kinematics algorithm, which provides a theoretical foundation for the 3D model design; (iii) the robot kinematics simulation, which verifies the correctness of the kinematics algorithm. Finally, the feasibility of the MBD is verified by the robot prototype and the motion control system test. Taking the MBD to design a 5-DoF (five-degrees-of-freedom) robot as an example, the joint verification and selection are finished quickly and accurately to build the robot prototype without the need for secondary design processing, and the kinematic algorithm verified by the co-simulation platform can be used directly in the actual motion control of the robot prototype, which accelerates the development of the robot motion control system.<\/jats:p>","DOI":"10.3390\/robotics14080103","type":"journal-article","created":{"date-parts":[[2025,7,29]],"date-time":"2025-07-29T12:39:29Z","timestamp":1753792769000},"page":"103","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Model-Based Design of the 5-DoF Light Industrial Robot"],"prefix":"10.3390","volume":"14","author":[{"given":"Yongping","family":"Shi","sequence":"first","affiliation":[{"name":"State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China"},{"name":"School of Mechanical Engineering, Hefei University of Technology, Hefei 230031, China"},{"name":"Mechanical Engineering, Doctoral School-Doctoral Programme in Energy Systems, Lappeenranta-Lahti University of Technology (LUT), 53850 Lappeenranta, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tianbing","family":"Ma","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China"},{"name":"School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan 232001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hao","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China"},{"name":"School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan 232001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China"},{"name":"School of Mechanical Engineering, Hefei University of Technology, Hefei 230031, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China"},{"name":"School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan 232001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huapeng","family":"Wu","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Doctoral School-Doctoral Programme in Energy Systems, Lappeenranta-Lahti University of Technology (LUT), 53850 Lappeenranta, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7921-1307","authenticated-orcid":false,"given":"Ming","family":"Li","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Doctoral School-Doctoral Programme in Energy Systems, Lappeenranta-Lahti University of Technology (LUT), 53850 Lappeenranta, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,7,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"72","DOI":"10.1016\/j.jpor.2016.01.003","article-title":"Advancements in CAD\/CAM technology: Options for practical implementation","volume":"60","author":"Alghazzawi","year":"2016","journal-title":"J. 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