The Key Techniques Research On Industrial Manipulator With PRP Cylindrical Coordinate

This paper mainly research industry manipulator with PRP cylindrical coordinate.With its brief structure, high efficiency and avoiding intense labor， the industrialmanipulators have been paid much more attention nowadays. Therefore, the research anddesign on manipulators is fairly meaningful not only in research innovation, but inpractical application. It also provides the theory foundation for mechanized production.This paper starts from the background, research meaning and development trend athome and oversea, and briefly introduces organization type, character and application field.The right style of manipulator can be chosen，according to the use of manipulator.Cylindrical coordinate and PRP joint style is chosen in this manipulator.The movement of manipulator is mainly happened in the terminal, as a result, thecoordinate of clamp pose can be transited from the local coordinate to the original onethrough D-H rule, and then the kinematical equation and its inverse kinematics can be alsoworked out subsequently.The trace of movement of manipulator should be created before it runs. Consideringsome certain factors, for example, the speed of movement, cable tangling and obstacles andso forth, a right trace can be created. Linear time interpolation is an ideal way to setinterpolating points, and then the trace of movement of manipulator can be created afterbeing evaluated.After path planning, the movement simulation starts though Solid works and itsCOSMOS Motion module. Building a virtual model in the portion of1:1first and loaded,the movement status should be analyzed to find the difference between practical trace andthe ideal one. And it’s significant and meaningful to follow-up works like drivers orcontrol system choosing if necessary.