The Mechanism Analysis And Trajectory Simulation Of5R Joint Manipulator

Articulated manipulator can realize soft automation integration of mechanical and electric device,having a high degree of initiative and flexibility, it also is the important branch of development robotics. Articulated manipulator’s structure design, analysis and motion control has important significance to promote for its development and application.Based to present state of robotics and its application, this paper gives a joint manipulator mechanism kinematics analysis and motion control simulation research. Joint manipulator change to achieve the end effect established movement through the control of each joint angular displacement, after Using the motion simulation analysis, accurate joint angle data of manipulator can implement tasks. It makes joint manipulator accurate finish feeding and unloading operation accurately.According to the actual needs of production line, manipulator mechanisms were studied, The selected manipulator structure is open, Five degrees of freedom joint type, And make sure the technical parameters of manipulator, Drawing mechanism diagram, and work area. Based on D-H transformation method, analysis process of NC machine tools and automatic production line material for five degrees of freedom joint type of manipulator kinematics is introduced, Establish5R joint manipulator pose equation, And the kinematics of positive solution and inverse solution is solved. The example is for proving positive solutions and inverse solution accuracy.Then, according to the feeding and unloading plan and the actual production condition, Manipulator movement trajectory is planned, and the sequence of operation, action steps and operation process is finished by the homework for manipulator task. Between the station points is taken kinematics interpolation, using the kinematics inverse solution to solve each station corresponding joint’s variable value.Finally, the feeding process of motion simulation analysis is made, Including using MATLAB software to simulate each joint angle displacement, speed, each joint motion characteristic curve is drawn, the mechanism modeling, definition of connecting rod and kinematic pair is Made by UG, Set each joint drive parameters, and then simulate the mechanism motion analysis, generating feeding motion animation. This paper using UG motion simulation module, generate5R joint manipulator up-down material motion animation, the analysis of displacement, velocity curve is carried on, Find out problems and design for many times. Precise data apply the important theoretical basis for the subsequent dynamic analysis and control system design.