Research Of Kinematics Modeling And Simulation For Industrial Robot

The robot has been used in each domain of industry as the development of robot technology.Integrating the project requirement,how to speed up progress,improve efficiency and performance in the design and optimization of robot,having become the problem which extremely must solve,while the research of kinematics modeling and simulation for robot having been the very important works.Especially,aimming to complex spatial mechanism,how fast and accurately to buiid the kinematics model,carry on simulation about performance appear more and more importantly.The virtual robot model is built by Pro/E,module division is carried on the model with the method of the mechanism module division,and degree of freedom for the system is calculated.Then,kinematics modeling of the grippers is built with the multi-rigid-body kinematics,the constraint equation of the system is obtained,the analysis of speed and acceleration are carried on.In view of a welding robot,using matrix transformations and D-H method,the kinematics model is built,the forward and the inverse kinematics has been solved.Using MatLab programming and Monte carlo method,analyzing workspace of the welding robot.Through the simulation to judge whether the workspace has the cavities or not,which can provide the reference to obtain the appropriate operating region of robot.The derterity of every point in the worlspace is simulated and obtain the dexterity workspace of robot by MatLab with the concept of dexterity degree and service sphere.Finally,using Animator and COSMOSMotion of SolidWorks,the animation demonstrate on and kinematics simulation of the robot have been carried on,and obtain the process animation of robot when 6 joints moves orderly,the joint isogonal trajectory,the joint velocity curve and the terminal path curve when all joints move synchronizely.To instructs work and so on later period robot path plan and robot structure optimization design has the positive significance.