6R Industrial Robot Design And Trajectory Planning Simulation

6R industrial robot design and trajectory planning has been studied.including6R industrial robot structural design, kinematics modeling, workspace analysis,kinematics analysis and Based on RBF neural industrial robot trajectory planning, trajectory planning simulationanalysis. The study’s results and experiences to the robot design,the kinematic performance evaluation and optimization design has a certainsignificance.First,6R industrial robot structure design characteristics of the study, completed the main body structure of an industrial robot, the drive member and the end of the actuator-adaptive vacuum chuck design,6R industrial robot design of three-dimensional solid structure in the environment of UG-based.The application of robotics and mathematical knowledge to establish6R industrial robot mathematical modeling of the kinematics equation and the equation is solved. Workspace of the robot based on the Monte Carlo method and Matlab software has powerful numerical calculation function simulation studies, three-dimensional point cloud and a cross-sectional view of the robot workspace, and achieved good results, the industrial robot workspace, structure and optimize the design and use has important significance.Through application of Matlab/Robotics Toolbox industrial robot forward kinematics, inverse kinematics and trajectory planning simulation study, the corresponding joint displacement, velocity and acceleration versus time graph. Changing the length of the rod member, the articulation parameters, the type of the end of the actuator displacement, velocity and acceleration can be obtained. Assisted design work carried out quickly and efficiently. Further industrial robot trajectory planning and structure of the optimal design of important guiding significance.Fitting approximation based on RBF neural network, RBF neural network is applied to an industrial robot trajectory planning. And use of the Matlab RBF artificial neural network design, trajectory planning a simulation study. Compared with the solution of equations, calculation speed, high accuracy characteristics, can improve the robot trajectory planning accuracy.