Mechanism Analysis And Motion Simulation Of7DOF Polishing Robot Manipulater

At present, the industrial robot has been applied in more and more fields and triggeres anew round of industrial technology revolution. It promotes the production efficiency improve-ment greatly. Therefore, it causes people’s attention widely. Industrial robot technology hasbeen a focus in the field of automation engineering. Polishing robot is a kind of industrialrobots, applying to the grinding, polishing operation. Compared with the traditional manualgrinding, polishing robot has higher efficiency and precision, it can keep workers out of highdust, noise of the production environment and maintain workers’ physical and mental health.The manipulator is the main part of the polishing robots, the basic link of the design work.In this paper, based on the full understanding of the domestic and foreign researchsituation of the industrial robots’ manipulator, a seven degree of freedom manipulator isdesigned for grinding the workpiece, and carries on the kinematics, dynamics analysis,simulation analysis and trajectory planning, the specific work is as follows:First of all, the structure design scheme of the manipulator is worked out. It isdetermined the manipulator is using serial joint type structure, and distributes the degrees offreedom, the structure of the each joint of he manipulator are described. According to thestructure of manipulator, kinematics analysis of the manipulator of polishing robot iscompleted, mathematical model is established for the manipulator using D-H parametermethod, through the connecting rod transform, kinematics equation of the manipulator isobtained. It is difficult to solve the inverse kinematics of redundant robot and obtaining theclosed solution. So the manipulator with seven degrees of freedom will be transformed into atypical manipulator with six degrees of freedom by using the special structure of manipulatorthrough the virtual method of joint variable. Then, all the inverse solution can be found out byuse of analytical method. According to the speed transfer formula between link, the Jacobimatrix of manipulator is obtained, dynamic analysis is completed by using the Newton-Eulerformula method, and using MATLAB software to get the explicit solution of the equation ofmanipulator.Secondly, assembly drawing of the manipulator is finished by using the Solidworkssoftware, then importing into ADAMS software. By setting the pretreatment and simulationparameter, makes the manipulator to complete a cycle of movement. In the process, there isno interference. By using the powerful measurement of ADAMS, the displacement andvelocity curves of the end piece changing with time can de gained.thus, the forwardkinematics simulation is completed. Then, the inverse kinematics simulation is completedunder typical working conditions, importing the path point data in the track as aspline type data into ADAMS as the driving function. The simulation results show thatthe terminal trajectory accords with the preset. Each joint variable curves are obtained. It canbe used as the basis for compiling the control program. Dynamics simulation is completed, getting the joint driving torque curve of the manipulator in a period. It can provide the basisfor the choice of drive motors.Finally, the trajectory planning of the manipulator is finished, by using polynomialinterpolation method in the joint space. Based on the MATLAB software, the trajectory planning results are simulated, verified the rationality of trajectory planning scheme.In short, the results of theoretical analysis and simulation of kinematics, dynamics andtrajectory planning for the manipulator can be used as references in polishing robot drivensystem and controller design and lay the foundation for the development of physicalprototype.