| Appears when from 20th century 70's industrial used joints, robot to during the completely year, along with the science and, technology technology advancement, specially progressing by leaps and bounds which and so on the high tech technology changes with each new day along with the computer and the light integration of machinery, moreover automobile industry Electrical electron Civil electrical appliances The aerospace is the high technology and new technology industry development specially, To each kind of type robot, Specially the joint robot demand also more and more favors the higher paraffin direction development Thus industry robot research, The development and the application facing the user are an especially important question, The machine artificial already becomes the various countries to double the industry which pays attention.This article applies the many joints robot in view of at present, Has conducted the research from following several aspects: Studies the robot the constitution principle Kinematics foundation, And has established the robot in time the zero position and the working mode active status connecting rod coordinates system, Used the uneven transformation theory both to establish the equation of motion in light of this to two kind of situations, Has inferred two kind of situations kinematics normal solutions and the kinematics counter solution, And has carried on the simple comparison, Thought when has the displacement robot equation of motion, Kinematics normal solution river transportation kinematics counter solution, Has the very great value regarding the robot fundamental research; And robot has carried on the modelling to concrete robot IRB-2400710 the 6R under the Solidworks environment, Regarding plane painting work and spatial spiral line welded joint and so on two kind of hypothesized operating modes, Has carried on the movement simulation, And has carried on the discussion to the simulationresult; According to laboratory concrete experiment situation, Has carried on the experiment to the first kind of simulation. In the robot modelling really SW system carries on, First carries on the spare part according to the ABB robot structure size and the structure shape the modelling, Then carries on the assembly according to the joint mode of motion, In SW/ln the DDM system carries on the movement establishment, Like chart Chart 1 under the IRB robot main body chart and the SW modellingIn carries on the spiral line in the simulation process (like chart 2),Appeared the joint corner and the joint angular speed surpasses robot itself the limit, In carries on the reset after the simulation parameter, The robot parameter of movement basically satisfies the system request. and has carried on the comparison to the result, Like attempts the 3~ chart 6.Above is the hypothesized finishing tool respectively by line speed 724mm/S and 590mm/S moves simulated program By line speed 724mm/When s movement (attempts the 3~ chart 6 left side charts) the joint 5 corners to surpass the robot proper value, Joint 3, Joint 4,The joint 6 angular speeds have also surpassed the robot proper value, Such simulationestablishment is inappropriate, Must the reset and the simulation, The result sees attempts right flank 3~ chart 6 to attempt, In robot each kind of characteristic scope.This simulation way may carry on before the concrete work, May effectively carry on the examination to the working routine, Causes it to conform to the robot movement requirement Moreover also explained regarding the quite complex working condition, The list depends on the robot alone to complete the work is not impossibie, Although the robot the application is more and more widespread in the social product, But it is not multi-purpose, Needs and other equipment coordination uses, Can achieve the twice the result with half the effort function If in spiral line simulation, Let the robot and three degrees of freedom work tables union use, Then the spiral line radius may expand, Pitch increase, The angle of rotation multiplies, The general operating mode request all can satisfy, Also the robot each kind of state of motion and the request all conforms to the robot inherent requirement.According to laboratory special details, Has carried on the robot movement operation experiment First establishes the base coordinate system, Tool coordinate system, On passes on the operating procedure which edits in the memorandum to robot control center labor controlling machine center, Assigns out the procedure in the demonstrator, And execution, In the horizontal plane take p10 as the beginning, After p1,P2,P3 walks the tangential path to delimit a rectangle, Again take p10 as the beginning, After p4,P5,P6 walks the arc, Delimits a circle.Through research present paper conclusion as follows:1, Has established the robot in time the zero position and the non-vanishing position kinematics model, and has inferred in two kind of situations robot kinematics normal solution and the counter solution, may know through the analysis, the robot in the non-vanishing working position kinematics equation normal solution and the counter solution, all has the practical significance regarding the robot path plan and the kinematics simulation and its the application function two developments, and carries on the confirmation according to the arm condition in the specific position to the normal solution and the counter solution, the proof kinematics model and the robot various joints, the counter solution is correct.2, Used the uneven transformation theory to carry on the position posture description to the robot. Has studied the robot when hypothesized spurts spreads the processing work the path plan question, decides is apart from the laws and regulations and the movement performance is a curvilinear motion and two rotations movement combination, requests joint combination movement transformation least, thus uses is apart from the law path plan anticipated effect to be very good surely.3, The basis to the robot kinematic analysis, has carried on the movement simulation to the robot specific processing path. In two kind of demonstrations simulations system to the robot various joints corner, the angular speed, the angle acceleration has carried on the analysis, in spiral line simulation has the parameter establishment problem, after the reset the simulation, thought the work process steady, is coordinated, can complete the work task well.4,The establishment path operating procedure, the actual operation movement, has carried on the experimental confirmation, in the stipulation scope, the robot movement was good, has achieved the anticipated effect.Knew through the simulation that, the robot more and more obtains the widespread application, but regarding the complex work, is cannot independently complete, must with other equipment joint operations. Studies in this article in the foundation may thoroughly study the robot the kinematics, robot...
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