Design and Simulation of an Open-Source Articulated Robot Using ROS 2
Harjula, Teemu Mikael (2025)
2025
All rights reserved. This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited.
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-2025060219041
https://urn.fi/URN:NBN:fi:amk-2025060219041
Tiivistelmä
The objective of this thesis was to design and simulate a six-axis articulated robot, that could be used in robotics education and research. The focus was on developing an open-source robot model, that could be imported into Robot Operating System 2 environment to be simulated.
The frame structure of the robot was designed in SolidWorks and consists of simple to manufacture aluminium plate parts. Simple frame structure was used for supply chain resilience reasons, local manufacturing capabilities in mind. The robot model was then imported into ROS2 environment, where it was simulated in Gazebo and further, integrated with MoveIt2 motion planning package.
The result of the thesis was a working simulation setup in ROS2 Jazzy environment in Ubuntu 24.04. The system demonstrated motion planning in with MoveIt2 in RViz2 visualisation and the execution of planned motions in Gazebo simulation. Essential ROS2 packages were created and configured, including robot description and mesh files, simulated controller configurations and launch files. The final system can be used to demonstrate ROS2 implementation with custom robots.
It was concluded that the developed 3D model and simulation environment configurations provide a platform for teaching and demonstrating the process of using ROS2 in custom robot development. The thesis created a base for future work, including a potential physical manufacturing and further development of the simulation for educational use.
The frame structure of the robot was designed in SolidWorks and consists of simple to manufacture aluminium plate parts. Simple frame structure was used for supply chain resilience reasons, local manufacturing capabilities in mind. The robot model was then imported into ROS2 environment, where it was simulated in Gazebo and further, integrated with MoveIt2 motion planning package.
The result of the thesis was a working simulation setup in ROS2 Jazzy environment in Ubuntu 24.04. The system demonstrated motion planning in with MoveIt2 in RViz2 visualisation and the execution of planned motions in Gazebo simulation. Essential ROS2 packages were created and configured, including robot description and mesh files, simulated controller configurations and launch files. The final system can be used to demonstrate ROS2 implementation with custom robots.
It was concluded that the developed 3D model and simulation environment configurations provide a platform for teaching and demonstrating the process of using ROS2 in custom robot development. The thesis created a base for future work, including a potential physical manufacturing and further development of the simulation for educational use.