Research On Inserve Kinematics For Planar Robot Based On ADAMS

Robots, which can do hard and boring task for us, are the inevitable outcome of the development of science and technology. The application of robots has been increasingly wide, especially, in industrial production lines. Recently more research has been conducted for better service to people.Combining POWER CUBE reconfigurable modular robots with the mechanical dynamic analysis software ADAMS, this article studies the method of the robot inverse kinematics, given any track of the end point.For an open-chain 3-DOF planar robot. ADAMS is used to help accomplish the complex mathematical operations in inverse kinematics after the model transformation and driving links inversion. The model transformation involves the changes from the planar open-chain robot into the closed-chain one with the same DOF. The driving links inversion involves adding power to the new links of closed-chain mechanisms.The process of inverse kinematics is as follows:(1) Transform the open-chain robots into closed-chain mechanisms, and carried out in the models in ADAMS.(2) The mathematical knowledges are used to deal with the kinematics of the closed chain mechanisms after the driving powers are inverted to the closed-chain mechanisms.(3) Transformed models are simulated and positions in the joints are measured, yielding the driving function of the original model by polynomial interpolation.(4) For the original open-chain robot, by direct kinematics, the correctness of the path and orientations of the end effectors can be verified.For any reasonable of trajectory of the end effectors, this approach along with ADAMS software, simplifies the robot inverse kinematics. It will lay a good foundation for the analysis to the spatial robots with multi-degree of freedom, and expand the ranges of their application.