Sim4RAD: A MATLAB Toolkit for Design-Phase Sizing, Actuator Selection and URDF-Model Verification of Serial Robotic Arms

arXiv:2610.17534 · cs.RO · Submitted 2026-10-13 · Read on arXiv

cs.RO

Submitted: 2026-10-13

Updated: 2026-10-13

Code: https://github.com/LasterLi/Sim4RAD

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Verification — 1× in this paper · explained in 2 episodes

Sources

• A Systematic Robot Design Optimization Methodology with Application to Redundant Dual-Arm Manipulators
• Robodimm: A Physics-Grounded Framework for Automated Actuator Sizing in Scalable Modular Robots
• Accelerated co-design of robots through morphological pretraining

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