Development Of Design Platform And Trajectory Planning Algorithm Of Articulated Robot

With the development of industrial technology, robots have been widely used in various areas. The design and trajectory planning have been paid enough attention by researchers in the world. In the group of robots, the articulated robot is cared by designer and user for its broad work range, flexible movement and compact structure.Firstly, the design platform was development by which an articulated robot can be design quickly and convenient through selecting the various parameters of articulated robot. So the articulated robot LG6R was designed based on the design platform.Secondly, the kinematics model of articulated robot LG6Rwas established by means of Denavit-Hartenberg method, and a series of kinematics equations are deduced by means of homogeneous transformation matrix based on the kinematics model. According to identified position and orientation of articulated robot LG6R inverse kinematics was studied and each joint angle was calculated. And dynamic equation of articulated robot LG6R was deduced based Lagrange equation of energy balance. All of these laid the foundation for trajectory planning Algorithm and dynamic simulation of articulated robot.Then, trajectory planning algorithm of articulated robot was described detailed in joint-space and Cartesian-space based on kinematics and dynamics. Because RBF Neural network have the function of fit and approximation, so a trajectory planning algorithm based on RBF Neural network was propose and the trajectory was optimized according to the method. Finally the trajectory of the articulated robot LG6R became smoothness.Finally, making use of the virtual prototyping technology, the model of the articulated robot LG6R is founded in software ADAMS that developed for dynamics analysis of mechanical system. Furthermore, according to the planed path, the changes of the cinematic and dynamic indexes of the articulated manipulator in the course of moving are studied. The effectiveness and validity of this approach was proved by theoretical analysis and simulation results.