Body Design And Trajectory Planning And Virtual Simulation With Six Degree Of Freedom Robot

In the modern industrial manufacturing field industrial robot is applied more and more widely. It is an important manifestation of the national high-tech level in today’s society. Six degree of freedom industrial robot with its larger scope of work, high sensitivity plays an important role in the field of industrial robots. In company with development of robot’s application in breadth and depth, it is urgent need to address the basic technology research of the robot.In this dissertation, design a six DOF industrial robot with a model of six DOF industrial robot as prototype. The robot’s transmission mechanism has been designed, the calculation and selection of the driving motor are done for each joint of robot, the reducer of robot joints are selected, and analysis the strength of small arm structure. For convenience of the calculation of modeling later, established the robot link coordinate system through the D-H method. The transformation matrix is got of the robot relative to the robot base, and then the forward kinematics of the robot is got. The inverse kinematics of the robot is solved with inverse matrix of the robot transformation matrix, the inverse Kinematics of robot has many components, it is selected though the actual working condition and the robot joints movement range. In this dissertation, the Lagrange method is used modeling for robot, the dynamics mathematical model of the robot is derived. There are a variety of robot trajectory planning method, the three B spline curve trajectory planning of robot is used in this dissertation. The MATLAB is used to simulation the robot working space in this dissertation, the working range of the robot is drawn. The MATLAB robotics toolbox is used to analysis the robot kinematics, and then the robot kinematics and inverse solution are drawn. The robot parameters model is simplified established though the analysis software of mechanical system ADAMS. And the dynamics of the robot is analyzed, the driving torque of each joint of robot is got. The trajectory of robot is planned with the MATLAB robotics toolbox in this dissertation, the robot joints variation curve of time can be seen from the results.