The Structure Design And Its Kinematics Analysis Of An Articulated Robot

The articulated robot is paid attention to by designer and user for it's broad work range, flexible movement, compact structure, catching the object near the machine plinth. The article studies an experimental articulated robot'arm of six degrees of freedom, whose concerned studied contents include the whole scheme design, kinematics analysis of the articulated robot, trajectory planning and the work range analysis, virtual prototype design, kinematics simulation. The three degrees of freedom articulated robot designed in this article have the effect that can be as a basis for the continuous research. The six degrees of freedom articulated robot that will be designed in the future can be used not only in the teaching process but also in the further science research. So the article's study has broad factual meaning application prospects. The article studies correlative key technologies to fulfill the robot requirement in operation contents.Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means. At last, the robot arm's kinematics was simulated by using software ADAMS, and the simulation result was analyzed. To the experiment, the author tried to use the virtual prototyping technology in mechanism design.