Research On Kinematics And Dynamics Of Cooperative Robot Based On Virtual Prototyping Technology

"Intelligent plant","unmanned factory" became popular words in the industrial era 4.0,and they are regarded as the highest level of automation.In May 2015,as the State Department announced the plan of "Made in China in 2025" listed the industrial robots as one of the top ten key areas of development.From the traditional industrial robot to the cooperative robot,it is an important breakthrough for the process of developing the industrial robots.In this paper,the virtual prototyping technique is used to analyze the kinematics,dynamics and trajectory planning of six-degree-of-freedom cooperative robots.The control model of PD + G is designed and simulated by joint control,having extremely important use value and reference significance for the design and control of cooperative robot.Main contents as follows:(1)This paper takes the OUR-i5 light collaborative robot of Excellence(Beijing)Intelligent Technology Co.,Ltd.as the research target,using SOLIDWORKS software to finish the modular modeling and physical parameter extraction of cooperative robot parts,and leads the general model of the robot into ADAMS software to build a virtual prototype model.According to the structural parameters and characteristics of the cooperative robot,it uses the Hartenberg(D-H)method to have mathematical modeling,analyzes the cooperative robot's forward kinematics and inverse kinematics,simulates the kinematics for the cooperative robot with ADAMS software and uses the MATLAB software to make up the kinematics calculation algorithm.Through the kinematics analysis,studies the Jacobi matrix of the robot and its functions in detail.(2)This paper uses Lagrangian dynamics method to deduce the mathematical model of the cooperative robot,and the dynamic algorithm of the cooperative robot is written by MATLAB software.It provides a reliable foundation for the research of robot dynamics.(3)On the basis of kinematics analysis,the cooperative robot joint space trajectory planning and Cartesian space trajectory planning are carried out respectively by using the polynomial interpolation method,the penta polynomial interpolation method and the linear interpolation method.Using the toolbox Robotic toolbox of MATLAB to simulate the motion process of the cooperative robot and draw the trajectory of the robot,the feasibility and validity of the trajectory planning method are verified intuitively.(4)In this paper,the control module is deduced by ADAMS software,and the control model of PD + G is established in SIMULINK and the joint simulation is carried out by combining the derived dynamic mathematical model.It provides a reliable and reliable foundation for the research of force control system.