Research On Kinematics And Dynamics Of Industrial Robot

The structure of industrial robot is presented in this thesis, based on the trajectory that the manipulator would complete. This is articulated robot, which has five joints, a large working space. The low arm consists of parallel closed chains, which can balance the two main arms, make the dynamic quality better. The wrist has two degrees of freedom. The following is the solution of kinematics and inverse kinematics of robot, including setting the kinematic equation by unchaining the closed chains. After the analysis of some methods for the inverse kinematics, the vector method is presented. This method is simple, evading the complex of choosing the good answers. The simulation of computer testifies it. Based on the trajectory that two perpendicular intercoursing cylinders formed, the geometry method is chosen comparing with the mathematic method, it has powerful practical quality. The trajectory planning is in the joint space. By simulation of the polynomialinterpolation and the parabola interpolation, the former is chosen, whichis a part of off-line programming. Solving the dynamic equation uses the Kanemethod. The consequences of simulation are finally analyzed.