| IRB2400/10 manipulator, having 6 degrees of freedom, is utilized specificallyto produce in the field of industry. In this paper, the kinematics and dynamics of themanipulator are analyzed by means of Denavit-Hartenberg method andLagrange-Euler method respectively, and then the kinematic model and dynamicmodel of the manipulator are established. An experiment, which is to simulate aprocess of painting by using the manipulator, is finished. Making use of the virtualprototyping technology, the manipulator's model is founded in software ADAMSthat developed for dynamics analysis of mechanical system. According to theplaned path of the endmost tool, a kinematics simulation in allusion to theexperiment is done. Furthermore, the changes of the cinematic and dynamicindexes of the manipulator in the course of moving are studied. Finally, aiming atthe gravity term of the dynamic equation, the effect of links'gravity to drivemoment on joints is studied by MATLAB/simulink.
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