Development Of A Five-Dof Robot Mechanism And Its Kinematics Analysis

Based on the actual requirements for the workspace, the feature and weight of the operated object, an assembly robot with 5 degrees of freedom is brought forward and investigated in this paper with considering the characteristics of serial and parallel robotics, whose concerned studied contents include the whole scheme design, kinematics modeling of the serial robot, virtual prototype design, kinematics simulation and so on. First, the stir and supple degree matrix equation of the whole structure is established through the boundary element method, then the inherent frequency and vibration property is deduced and the dynamic performance of the whole set is analysized and three schemes are compared using dynamic characteristic software that is opened up in our laboratory. By means of coordinate transformation matrix, the mathematical model between the serial assembly robot and workpiece (Target) is set up and its kinematics analyses including the displacement, velocity of the above mentioned robot is completed as well as the workspace of the robot on the basis of the kinematics equation. Using 3-dimension CAD (Solid Edge) software, the virtual prototype of the robot is realized through the virtual design of 3-dimension parts and the virtual assemble of the whole robot, at same time the interference checking for the virtual prototype is carried out. Finally kinematics simulation of the virtual prototype is given via Adams software.