The Research Of Multi-DOF Robot System Based On Movable And Rotatable Platform

With the fast development of our national economy, the status of the robot in the fields of industrial production and scientific research improves rapidly. In view of this, A Multi-DOF robot system based on movable and rotatable platform is proposed in this thesis. The system has extensive application prospects on ocean development ,comprehensive supply of shipping, space butt joint.Current situation on development, kinematics , trajectory planning and simulation of robot at home and abroad is summarized in the thesis .A Multi-DOF robot system based on movable and rotatable platform is. Proposed. The composition , operation principle , and concrete implementing scheme of Multi-DOF robot system is introduced.In the course of research and design of the robot, the key technology with systematic kinematics, forward kinematics solution, backward kinematics solution and space interpolated calculation of trajectory planning etc, is discussing all the time at home and abroad. Kinematics equation is put in Cartesian coordinates system in the thesis. In order to keep the end effector position and attitude stabilization, under movable and rotatable platform motion ,the D-H method is used to solve the angle which is calculated manipulator each joint.Three times , five times , parabola , B spline interpolated calculation,Analyse is used to plan trajectory planning. The optimum method in time is used to optimize the trajectory of the robot ,adopting B spline interpolated calculation, , utilizing the speed , acceleration condition of robot each joint to restrain.