Scheme Desidn And Kinematics And Dynamics Analysis Of Seven Degree Of Freedom Robot

More research in industrial area is six degrees of freedom robot,but six degrees of fr-eedom robot is sometimes limited to their own conditions,hard or even not in accordance with the requirements for a certain position along the track to achieve a particular task,so more than six degrees of freedom robot favored by many researchers.Compared with six freedom robot,redundant seven degrees of freedom robot has better flexibility,better team performance and can improve the stress of the weak link of the robot.Based on this the paper has designed two redundant seven degrees of freedom robot kinematics,velocity kinematics and posture,trajectory planning,classification of statics,dynamics modeling analysis.The main research content is as follows:(1)Established the D-H parameters is redundant seven degrees of freedom robot model.Seven degrees of freedom is derived and solved the redundant robot posture forward kinematics equation,speed forward kinematics equation;Using posture separation method and location point method to solve redundancy seven degrees of freedom robot completely closed soution;Through the gradient descent method is derived and the speed of the seven degrees of freedom robot inverse kinematics equation.(2)Studied the redundant seven degrees of freedom robot trajectory planning problems.Curve for robot trajectory planning in joint space;In cartesian space trajectory planning for robots to do the straight line,round(arc)trajectory planning,space plane curve trajectory planning,space curved surface curve trajectory planning;And the corresponding trajectory planning program is compiled.(3)Designed the two redundant seven degrees of freedom robot structure scheme.Adopts the more advanced AC servo unit designed all hollow structure of redundant seven degrees of freedom robot join,ts R1;Using the traditional way of drive and transmission design the first five join ts hollow redundant seven degrees of freedom robot R2;Respectively for R1 and R2 joints,the finite element analysis has been done for the bar,2 d drawings of each joint is designed.(4)Established the static and dynamic model of redundant seven degrees of freedom robot.The derivation and calculation of the redundant seven degrees of freedom robot statics formula;Using Lagrange equation,and calculated the redundant seven degrees of freedom robot dynamics equation,compiled the corresponding analytical procedures.In this paper the basic research of redundant seven degrees of freedom robot do a thorough research,for further redundant seven degrees of freedom robot and robot research laid the foundation...