Research On The Kinematics Analysis, Structural Optimization Design And Simulation Of Serial Robot

Nowadays, various production industries have an increasing demand forindustrial robots. Although the government has made a big investment in research ofindustrial robots over the years, the effect is not obvious. The R&D on universal andkey technology of about industrial robots is the lifeblood of the development ofChina’s industrial robots.The primary aim of this article is to provide a comprehensive study on theoptimal design of kinematics, dynamics, structural and interactive offlineprogramming of Motoman hp6industrial robot.(1) Based on the discussion of kinematic characteristics of the Motoman hp6robot and the forward and inverse solution method, the kinematics forward andinverse solution is obtained. Furthermore, the application of multi-objective geneticalgorithm in optimization of inverse kinematics is investigated to get the optimalsolution of inverse kinematics on the condition of satisfying the constraints.(2) This paper also studies the structure and transmission of the serial robot, thenestablishes the virtual prototype model of the Motoman hp6robot. The dynamicsbetween each joint is analyzed when serial robot moves from one point to anotherpoint, meanwhile, the structure of the main components of the robot is studied withfinite element analysis, then the structure will be improved based on the analysisresults. The machine modal of the serial robot is analyzed and the structure of theserial robot is then improved based on the variation of the modal shape.(3) Finally, the offline programming system which integrates the kinematicsforward and inverse solution, trajectory interpolation, teaching playback and graphicdisplay module is presented. Meanwhile, the robot offline programming system isalso constructed under the environment of Visual C++6.0and Opengl, whichpossesses the characteristics of high integration, fast speed, strong visibility and goodhuman-computer interaction interface.The above research results make it richer of the theory of universal and keytechnology of serial robot, especially the theory of inverse kinematics, optimizationdesign of mechanism and Offline programming simulation system of robot.