Research On Six Joint-Rod Robot's Kinematic Path Simulation

The most important process of gene chip inspection instrument is that the chip must run for a trace what we designed, and pose it in one fixed positon on time. Control system is the most important part on the whole gene chip inspection instrument, correct controlling arithmetic can assure gene chip running for a trace what we have designed and fixed in a position correctly.This paper apply six rod series in this instrument. Use ADAMS (Automatic Dynamaic Analysis of Mechanical System) software and MATLAB (MATrix LABoratory) to study the spection instrument's control technology. And research on six rod series virtual robot's control system of designed trace.(1) Desgin one trace curve and pose for this robot's mechanical tool. Build a robot's kinematics equation, coordinates according to robot's inverse kinematics and and resolve equation for every variable of joint. In addition, use analytic geometry to resolve it.(2) Use MATLAB software to build trace curve arrays, build variables of joint array. Portract kinematics running curve, and confirm the correctness of value what we have resolved.(3) Use ADAMS software to build one virtual mechanical model. Add restraints and drives and go to simulate. (4) Make datas what we have gained in MATLAB circumstance use in mechanical model in ADAMS circumstance, and memory these datas in curves. Every variables of joint is alterated by these curves. Achieve to run for the fixed curves and poses. The mechanical and electronical simulation was Performed. The result of the mechanical and electronical simulation was analysised.By the research on six joint-rod robot's kinematics path, it indicated that we can apply the six joint-rod robot in gene chip inspection instrument. And this is valuable to bulid a real prototype.