Level Four Degrees Of Freedom Of Assembly Robot Kinematics And Dynamics Simulation Analysis

In this article, we aim to design a planar four-DOF (Degree of Freedom) assembly robot arm. Using virtual Prototyping Technology designs mechanism system. We utilize the kinematics and dynamics simulation function of virtual prototype software ADAMS to get the kinematics and dynamics characteristic of the planar four-DOF assembly robot arm. The simulation results of the analysis can help us modify the material of part and improve the structure design. Applying virtual Prototyping Technology is important for improving the quality of product and decrease the case of product.We first build the model of the planar four-DOF assembly robot arm; then establish the kinematics and dynamics equation of the planar four- DOF assembly robot arm, and do some theoretical research on the kinematics and dynamics characteristics of the robot arm.For the two-bar robot arm, we focus merely the whole kinetic energy at horizontal condition, and neglect the change of potential energy due to the bending deflection of the robot arm. We calculate the Lagrange function L of two-bar robot arm by Lagrange function equity.After the analysis of the two-bar robot arm, we get the parameters and equations as follows,1. Computing the speed of any point on any bar;2. Building the kinematics equation of two-bar robot arm system;3. Calculating kinetic energy of each bar and the total kinetic energy of the robot arm;4. Building the Lagrange function of the robot arm system;5. Calculating the derivative of the Lagrange function L, so as to get dynamics equation.In the simulation of the kinematics and dynamics of robot arm, we use ADAMS to get the displacement, speed, acceleration, force, torque, kinetic energy of each link and the whole kinetic energy of robot arm, etc. We can calculate the information of centre of mass, after inputting density data, etc. Such information will support the design of robot arm.Structure vibration is very important for equipment movement and mechanics problem. For equipment, especially movement equipment, failure rate from structure vibration may be 60~70%. It's the direct reason for the reliability problems of machines and structures. Now, vibration analysis and vibration design have been the key point of product design. Modal analysis of structure is the base of the whole vibration analysis. We can get frequency response, power spectrum density(PSD), modal coordinates, etc. by modal analysis module of ADAMS.Such information will be the important reference of system design and calculation.