The Mechanism Analysis And Implementation Research Of3R Parallelogram Linkage Manipulator

The robot in this article is industrial robots, or called robots operation arm, the robotarm, manipulator. The front of the manipulator is equipped end actuators or correspondingtools, often called the hand or PAWS. PAWS are composed of two or more fingercomposition, fingers which realize the grab action and subtle operation can open and close.The arm action is often larger, usually realize macro operation.For practical production up-down material problems which has space span, in order torealize the span, simple and clear sports, using three degrees of freedom parallelogramframe. In order to determine the relative motion of the relationship between connecting rod,picking up a coordinate system on each connecting rod, then describe the relationshipbetween these coordinate system, this paper use the D-H method, to utilize a4x4homogeneous transformation matrix to describe the spatial relationship between twoconnecting rod, thus derived the equivalent homogeneous transformation matrix between"PAWS coordinate system" and "reference frame", establishing a movement equation forthe operation arm. For lay the foundation for a living example that a actual production usethis type of the manipulator, using the method of inverse transform for the inversekinematics, and using an example to prove it.On the basic of the kinematics of the arm, according to the requirements of the task,this article calculates the expected trajectory, and describes the robot task, the path and thetrajectory. According to requirements of the up-down material process, the basic trajectoryof the manipulator is planned. And using cubic polynomial interpolation function toanalyze and interpolation calculating for each work path, thus the general type of eachparagraph of the path of cubic polynomial interpolation function is deduced.At last, introducing some content about the Matlab software briefly, and making akinematics emulator of the robot through the strong calculate and plot function of theMatlab software. Before the simulation, the speed of every ascending point and lower pointcan be calculated by using continuous conditions between every waypoint. So the cubic interpolation polynomial function of each path segment can be obtained by using the valueof every speed and joint variable, thus laying the foundation of the simulation for thesimulation of the joint variables changing with time. This chapter use thep1â†'p2forexample, simulating all the joint variables which have action in the path.