Construction Design,Kinematics Analysis And Simulation Of Six Degree Of Freedom Robot

In the past twenty years, the robot technology has been developed greatly and used in many different fields. There is a large gap between our country and the developed countries in research and application of the robot technology so that there will be a great value to study , design and applied different kinds of robots, especially industrial robots.Most typical industrial robots such as welding robot, painting robot and assembly robot are all fixed on the product line or near the machining equipment when they are working. Based on larger number of relative literatures and combined with the need of project, the author have designed a kind of small-size serial robot with 6 degree of freedom which can be fixed on the AGV to construct a mobile robot.First of all, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analysis and comparing and the structure was designed. At same time, The kinematics analysis was conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced, the velocity Jacobian matrix was constructed using vector product method, and the values of displacement and velocity of some special point including the wrist point were calculated.Secondly, the working space of the robot was analyzed and the axes section of practical working space was drawn. These works provided a basis to the structuredesign , kinematics analyse and control.At last, the robot arm's kinematics was simulated by using software ADAMS, and the simulation result was analyzed. In the experiment, the author tried to use the virtual prototyping technology in mechanism design.