Research On 6-DOF Serial Robot Kinematics System

In the past twenty years, the robot technology has been developed greatly and used in many different fields. While there is still a large gap between our country and the developed countries in research and application of the robot technology, so there will be a great value to study, design and apply different kinds of robots, especially industrial robots.During the practical application of the industrial robot, serial robot is being universally used, which has been wildly used in production of machining, welding, heat treatment, surface coating, carrying materials assembly and so on. Therefore the working efficiency and quality are important index of judging the performance of the robot. It becomes the key problems which need solving badly to raise the working efficiencies and reduce errors of industrial robot in actual operation. Trajectory planning of robot, which means find the optimal trajectory between two points or following the special path under all kinds of physical constraints, can make the motion time minimum. The purpose and practical meaning of this research lie in enhance the work efficiency of robot.The principal question of study and design of serial robot is the analysis of kinematics system, e.g. direct solution and inverse solution of robot.The paper does much research on 6-DOF serial robot motion system based on coordinate transformation theory, coordinate transformation matrix is set up, and the kinematics equation direct solution and inverse solution are deduced. solution formula for terminal values, joint angles and posture angles are gained. The researsch have done provides theoretical basis and tools for kinematics analysis of 6 DOF serial robot.At last, the 6 DOF robot is graphical simulated in 3D form by using software SimMechanics, a new module for Mechanical structure simulation of Matlab.The simulation data is compared with the data calculated by theory method. The simulation result is verified, which have provided a intuitionistic environment for kinematics analysis and the trajectory planning of serial robot.