Systems Analysis And Simulation Of Manipulator For Carrying Material

The kinematics and dynamics performance of the manipulator will influence the application of the manipulator directly, so it's very necessary for manipulator to carry on the research in this respect. This paper uses kinematics and dynamics research approach to carry on deep kinematics analysis and dynamics analysis to the manipulator. Utilize artificial software ADAMS of mechanical system dynamics, carry on the artificial analysis of the manipulator.In the manipulator kinematics analysis aspect, study the machine position posture description and D—H coordinates, then establish the manipulator kinematics mode. In the manipulator model analysis foundation, under the different coordinate systems, studying the manipulator equation of motion differential transformation, elegantly extracted the equation of motion transformation.In the manipulator dynamics analysis aspect, discuss the manipulator joint static reaction and motional reaction question, establish the manipulator model in view to carry on the solution computation; analyze the manipulator Kane dynamic equation.Establish the series joint robot dynamics model with mechanical system dynamics analysis software ADAMS; analyze various joints state of motion; discuss under the different ambient condition the joint driver moment curve and various joints movement relations curve change, for thoroughly studies the manipulator kinematics and dynamics question, as well as the series joint robot main body and the controller design has provided the rationale. This article has the certain guiding sense to the series robot design. Using this article research technique, may effectively enhance the design quality and reduces the design cycle.Has an important sense for designing manipulator, and shorten the circle of design.