Research Kinematics Analysis Of Maching Large Diameter Thread Based On UP50 Industrial Robot

In the future development of the industrial robot,the application of the industrial robot is an important trend in the field of maching and cutting.In this paper,based on theoretical analysis in detail of the industrial robot trajectory planning's technology at home and abroad,and the intensive study about specific implementation process of the robot trajectory planning's technology,expect to have some harvest to provide some enlightenment and reference for the research and implementation of the robot's spatial spiral trajectory planning.(1)Describe the pose of the robot and establish the robot's coordinate system.Then for the MOTOMAN UP50 industrial robot,the kinematics equation is established by using D-H method and gain the solution of the inverse kinematics.(2)To estabilish the spatial vertical helix model.Based on the model,to obtain the pose matrixs of the nodes in the spatial obique spiral.For the MOTOMAN UP50 industrial robot,multiple solutions occurred during the process of solving inverse kinematics.On the above situation,pose matrixs are used to calculate the kinematics and inverse kinematics,thus determine the unique inverse solution.(3)Solving the robot's Jacobian matrix by using Vector method and Different transform method,and with specific data to verify the accuracy of the Jacobian matrix.In the joint space,solving the joint displacement vector,the velocity and the acceleration vector of the end effector at the nodes which in the spatial obique spiral,these three parts constitute joint motion trajectory (?(?)).Maching different diameters workpieces with the different end effector speeds,observe the changes of joint motion trajectory under the above different processing condition.(4)On the basis of Having known the joint trajectory (?(?))at nodes which in the spatial obique spiral.For the trajectory planning of these two adjacent nodes,using Five Times Polynomial Interpolation and Linear Interpolation with Parabola.Making the corresponding simulation by MATLAB,and then comparing the simulation's theoretical data of the above two different trajectory planning methods,finally get better interpolation method.