The Research Of The Intelligent Robot Motion Analysis And Simulation

"The Research of the Robot Control Intelligently" controls the industrial robot intelligently, which requires to avoid barrier automatically, to layout path automatically, and to carry the work piece from any site to objective site automatically, the related contents are quite wide. As a sub-topic of "The Control and Research of the Intelligent Robot", according to the object of five freedom manipulator, the present text research the modeling and analyses of the five freedom manipulator's statics and kinematics, and manipulator's path planning, as well as manipulator's kinematics simulation. By these analyses, the shortcoming and the insufficiency in the design can be detected on time, so improvement and optimization can be made, as a result the loss generated possibly because of directly operation to the entity can be avoided, and it has very important tutorial meanings to the robot's design, manufacture, test.At first, in Pro/Engineer, the five freedom manipulator's modeling and assembly can be completed, and the interference inspection to each part can be proceeded, as a result, the validity and rationality of the global structure design can be demonstrated, so it can supply a correct virtual prototype model to the analysis and simulation of the statics and kinetic. Next, through the interface between Pro/Engineer and ANSYS inducting the model to ANSYS, the analyses to the manipulator's statics aspect (intensity, displacement) can be proceeded, further demonstrating the rationality of the mechanical structure, and providing the theoretical basis for the kinetic analysis and simulation. Next, the five freedom manipulator's kinematics characteristic is analyzed, establishing the direct and the inverse kinematic equations. According to each joint motion parameter, the manipulator's position and pose can be solved, as well as according to the specified relevant position and pose parameter, each joint motion parameter can be solved. And then, utilizing the result of the kinematic equation, the path planning to the manipulator can be proceeded. At last, utilizing the special interface between Pro/Engineer and ADAMS supplied from MSC corporation, proceeding the necessary parameter setting, then proceeding kinematics simulation, analyzing the robot's systematic kinematics performance.